Flight termination method and apparatus, and system, server, aircraft and storage medium

Abstract

A flight termination method, comprising: a first server receiving a flight termination instruction, and sending the flight termination instruction to a flight termination apparatus mounted on an aircraft, wherein the first server comprises a first cloud server (S111); and in response to having received the flight termination instruction sent by the first server, the flight termination apparatus controlling the aircraft to execute a flight termination operation, wherein a communication link for the flight termination apparatus to receive the flight termination instruction does not pass through a control device of the aircraft, and the control device is used for controlling the pose of the aircraft (S112). The method can improve the independence and reliability of the transmission of the flight termination instruction.

Description

Flight termination methods, devices, systems, servers, aircraft, and storage media Technical Field

[0001] This application relates to the field of aircraft technology, and in particular to a flight termination method, device, system, server, aircraft, and storage medium. Background Technology

[0002] In recent years, aircraft have been widely used in various industries such as logistics and transportation, agricultural plant protection, film and television shooting, and power line inspection. However, the safety of aircraft remains a key factor restricting its development. In particular, ensuring that aircraft can be quickly and urgently terminated in the event of malfunction or abnormal situation, thus avoiding further damage to people and property, has become a critical challenge. Summary of the Invention

[0003] Based on this, embodiments of this application provide a flight termination method, apparatus, system, server, aircraft, and storage medium.

[0004] In a first aspect, embodiments of this application provide a flight termination method, including:

[0005] The first server receives the flight termination command and sends the flight termination command to the flight termination device on the aircraft, wherein the first server includes a first cloud server;

[0006] The flight termination device responds to receiving the flight termination command sent by the first server and controls the aircraft to perform a flight termination operation. The communication link through which the flight termination device receives the flight termination command does not pass through the control equipment of the aircraft, and the control equipment is used to control the attitude of the aircraft.

[0007] Secondly, embodiments of this application also provide a flight termination method, including:

[0008] The system receives a flight termination command sent by a first server, wherein the first server includes a first cloud server, the communication link for transmitting the flight termination command includes the first server and the flight termination device mounted on the aircraft, and the communication link does not pass through the control equipment of the aircraft, the control equipment being used to control the attitude of the aircraft.

[0009] In response to the flight termination command, control the aircraft to perform a flight termination operation.

[0010] Thirdly, this application also provides a flight termination method, applied to a first server, the first server including a first cloud server, the method comprising:

[0011] Receive a flight termination command and send the flight termination command to the flight termination device on the aircraft, so that the flight termination device can respond to the flight termination command and control the aircraft to perform a flight termination operation;

[0012] The communication link used to transmit the flight termination command includes the first server and the flight termination device, and the communication link does not pass through the control equipment of the aircraft, which is used to control the attitude of the aircraft.

[0013] The flight termination method provided by any of the first to third aspects sends the flight termination command to the aircraft via an independent cloud server, without relying on physical buttons on the control equipment used to control the aircraft's attitude. This ensures that the transmission of the flight termination command is not affected by the communication link between the control equipment and the aircraft, guaranteeing the independence and reliability of the command transmission. Furthermore, sending the flight termination command via a cloud server enables remote control and supports convenient multi-user operation, improving the convenience and flexibility of flight termination.

[0014] Fourthly, embodiments of this application also provide a flight termination method, including:

[0015] The first server receives the flight termination command and sends the flight termination command to the flight termination device mounted on the aircraft;

[0016] In response to receiving the flight termination command, the flight termination device controls the aircraft to perform a flight termination operation. The communication link used to transmit the flight termination command includes a mobile communication network link, and the communication link does not pass through the control equipment of the aircraft. The control equipment is used to control the attitude of the aircraft.

[0017] Fifthly, embodiments of this application also provide a flight termination method, including:

[0018] Receive a flight termination command, wherein the communication link for transmitting the flight termination command includes a mobile communication network link, and the communication link passes through the flight termination device mounted on the aircraft, but does not pass through the control equipment of the aircraft, the control equipment being used to control the attitude of the aircraft;

[0019] In response to the flight termination command, control the aircraft to perform a flight termination operation.

[0020] Sixthly, embodiments of this application also provide a flight termination method, using a first server, the method comprising:

[0021] Receive a flight termination command and send the flight termination command to the flight termination device on the aircraft, so that the flight termination device can respond to the flight termination command and control the aircraft to perform a flight termination operation;

[0022] The communication link used to transmit the flight termination command includes a mobile communication network link, and the communication link passes through the flight termination device but not through the control equipment of the aircraft. The control equipment is used to control the attitude of the aircraft.

[0023] The flight termination method provided in any of the fourth to sixth aspects transmits a flight termination command to the aircraft via a mobile communication network link, enabling long-distance transmission of the flight termination command. This allows the aircraft to receive the command promptly and reliably, improving the reliability and real-time performance of the command transmission and expanding the application scope of the flight termination system. For example, in scenarios where a nested device controls an aircraft, the nested device is typically deployed in a remote location. Using a wireless connection link between the nested device and the aircraft to transmit the flight termination command requires the user to be stationed near the nested device to terminate the flight, limiting its application scope. However, the embodiments of this application transmit the flight termination command to the aircraft via a mobile communication network link, achieving long-distance transmission of the command. This eliminates the need for the user to be stationed near the nested device to terminate the flight, and the deployment of the nested device does not affect the execution of the flight termination operation.

[0024] Seventhly, embodiments of this application also provide a flight termination method, including:

[0025] The first server receives the flight termination command and sends the flight termination command to the flight termination device mounted on the aircraft;

[0026] The flight termination device receives the flight termination command and sends the flight termination command to the aircraft's power system. The power system includes an electronic speed controller and a power unit. The electronic speed controller responds to the flight termination command and controls the aircraft's power unit to stop operating. The communication link used to transmit the flight termination command passes through the flight termination device and does not pass through the aircraft's control equipment. The control equipment is used to control the aircraft's attitude. The energy module of the aircraft that supplies power to the power system remains powered even when the power system stops operating.

[0027] Eighthly, embodiments of this application also provide a flight termination method, including:

[0028] Receive flight termination command, wherein the communication link for transmitting the flight termination command passes through the flight termination device mounted on the aircraft, but does not pass through the control equipment of the aircraft, the control equipment being used to control the attitude of the aircraft;

[0029] The flight termination command is sent to the aircraft's power system, which includes an electronic speed controller and a power unit. The electronic speed controller responds to the flight termination command by controlling the aircraft's power unit to stop operating. The energy module of the aircraft that supplies power to the power system continues to supply power even when the power system stops operating.

[0030] The flight termination method provided in the seventh or eighth aspect sends a flight termination command directly to the aircraft's electronic speed controller, allowing the electronic speed controller to directly control the aircraft's power system to stop operating, rather than passively stopping the power system by first disconnecting the aircraft's energy module (e.g., by cutting off the battery). This increases the speed at which the aircraft performs flight termination operations. Furthermore, the aircraft's energy module remains connected while the power system is stopped, allowing for the recording of flight termination-related data, ensuring data integrity, and facilitating subsequent analysis and aircraft optimization.

[0031] Ninthly, embodiments of this application also provide a flight termination device, the device comprising:

[0032] communication devices;

[0033] At least one processor;

[0034] At least one memory containing computer program code;

[0035] Wherein, at least one of the memory and computer program code, together with at least one of the processor, are configured to cause the flight termination device to perform at least the following steps:

[0036] The communication device receives a flight termination command sent by a first server, wherein the first server includes a first cloud server, the communication link for transmitting the flight termination command includes the first server and the flight termination device mounted on the aircraft, and the communication link does not pass through the control equipment of the aircraft, the control equipment is used to control the attitude of the aircraft;

[0037] In response to the flight termination command, control the aircraft to perform a flight termination operation.

[0038] In a tenth aspect, embodiments of this application also provide a flight termination device, the device comprising:

[0039] communication devices;

[0040] At least one processor;

[0041] At least one memory containing computer program code;

[0042] Wherein, at least one of the memory and computer program code, together with at least one of the processor, are configured to cause the flight termination device to perform at least the following steps:

[0043] The flight termination command is received through the communication device, wherein the communication link for transmitting the flight termination command includes a mobile communication network link, and the communication link passes through the flight termination device mounted on the aircraft, but does not pass through the control equipment of the aircraft, the control equipment being used to control the attitude of the aircraft;

[0044] In response to the flight termination command, control the aircraft to perform a flight termination operation.

[0045] Eleventhly, embodiments of this application also provide a flight termination device, the device comprising:

[0046] communication devices;

[0047] At least one processor;

[0048] At least one memory containing computer program code;

[0049] Wherein, at least one of the memory and computer program code, together with at least one of the processor, are configured to cause the flight termination device to perform at least the following steps:

[0050] The flight termination command is received through the communication device, wherein the communication link for transmitting the flight termination command passes through the flight termination device mounted on the aircraft, but does not pass through the control equipment of the aircraft, and the control equipment is used to control the attitude of the aircraft.

[0051] The flight termination command is sent to the aircraft's power system, which includes an electronic speed controller and a power unit. The electronic speed controller responds to the flight termination command and controls the aircraft's power system to stop operating. The energy module of the aircraft that supplies power to the power system continues to supply power even when the power system stops operating.

[0052] In a twelfth aspect, embodiments of this application also provide an aircraft, comprising:

[0053] Organism;

[0054] A power system, located on the fuselage, is used to provide flight power for the aircraft;

[0055] Control equipment for controlling the attitude of the aircraft;

[0056] The flight termination device as described in the ninth, tenth, or eleventh aspect is disposed on the aircraft body and is used to control the aircraft to perform a flight termination operation.

[0057] In a thirteenth aspect, embodiments of this application also provide a flight termination system, including a first server and a flight termination device, wherein:

[0058] The first server is used to receive a flight termination instruction and send the flight termination instruction to the flight termination device, wherein the first server includes a first cloud server;

[0059] The flight termination device is mounted on the aircraft and is used to control the aircraft to perform a flight termination operation in response to receiving the flight termination command sent by the first server. The communication link through which the flight termination device receives the flight termination command does not pass through the control equipment of the aircraft, and the control equipment is used to control the attitude of the aircraft.

[0060] In a fourteenth aspect, embodiments of this application also provide a flight termination system, including a first server and a flight termination device, wherein:

[0061] The first server is used to receive the flight termination command and send the flight termination command to the flight termination device;

[0062] The flight termination device is mounted on the aircraft and is used to control the aircraft to perform a flight termination operation in response to receiving the flight termination command. The communication link used to transmit the flight termination command includes a mobile communication network link, and the communication link does not pass through the control equipment of the aircraft. The control equipment is used to control the attitude of the aircraft.

[0063] In a fifteenth aspect, embodiments of this application also provide a flight termination system, including a first server and a flight termination device, wherein:

[0064] The first server is used to receive the flight termination command and send the flight termination command to the flight termination device;

[0065] The flight termination device, mounted on the aircraft, is used to receive the flight termination command and send the flight termination command to the aircraft's power system. The power system includes an electronic speed controller and a power unit. In response to the flight termination command, the electronic speed controller controls the aircraft's power unit to stop operating. The communication link used to transmit the flight termination command passes through the flight termination device and does not pass through the aircraft's control equipment. The control equipment is used to control the aircraft's attitude. The energy module of the aircraft that supplies power to the power system remains powered even when the power system stops operating.

[0066] In a sixteenth aspect, embodiments of this application also provide a flight system, including:

[0067] Aircraft; and

[0068] Flight termination systems as described in aspects thirteen, fourteen, or fifteen.

[0069] In a seventeenth aspect, embodiments of this application also provide a computer-readable storage medium storing computer program code that, when executed by a processor, causes the processor to implement the flight termination method as described in any one of the first to eighth aspects.

[0070] 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

[0071] 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.

[0072] Figure 1 is a schematic diagram of a flight termination method in related technologies;

[0073] Figure 2 is a schematic diagram of a flight termination method in an embodiment of this application;

[0074] Figure 3 is a schematic flowchart of the steps of a flight termination method provided in an embodiment of this application;

[0075] Figure 4 is a schematic flowchart of another flight termination method provided in an embodiment of this application;

[0076] Figure 5 is a schematic flowchart of another flight termination method provided in an embodiment of this application;

[0077] Figure 6 is a schematic flowchart of another flight termination method provided in an embodiment of this application;

[0078] Figure 7 is a schematic flowchart of another flight termination method provided in an embodiment of this application;

[0079] Figure 8 is a schematic flowchart of another flight termination method provided in an embodiment of this application;

[0080] Figure 9 is a schematic flowchart of another flight termination method provided in an embodiment of this application;

[0081] Figure 10 is a schematic flowchart of another flight termination method provided in an embodiment of this application;

[0082] Figure 11 is a schematic flowchart of another flight termination method provided in an embodiment of this application;

[0083] Figure 12 is a schematic block diagram of a flight termination device provided in an embodiment of this application;

[0084] Figure 13 is a schematic block diagram of the structure of an aircraft provided in an embodiment of this application;

[0085] Figure 14 is a schematic block diagram of a flight termination system provided in an embodiment of this application;

[0086] Figure 15 is a schematic block diagram of the structure of a flight system provided in an embodiment of this application. Detailed Implementation

[0087] 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.

[0088] 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.

[0089] 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.

[0090] In recent years, aircraft have been widely used in industries such as logistics and transportation, agricultural plant protection, film and television shooting, and power line inspection. However, the safety of aircraft remains a key factor restricting their development. In particular, ensuring that aircraft can be quickly and urgently terminated in the event of malfunction or abnormal situation, thus avoiding further damage to people and property, has become a critical challenge.

[0091] As shown in Figure 1, in the related technology, the user controls the aircraft to perform a flight termination operation by using physical buttons on the control device 100. For example, the user clicks a physical button on the control device 100 to trigger a flight termination command. The control device 100 transmits the flight termination command to the aircraft 200 through the communication link between the control device 100 and the aircraft 200. The flight control device in the aircraft 200 controls the battery of the aircraft 200 to disconnect according to the received flight termination command, so as to terminate the flight of the aircraft 200.

[0092] However, the above-mentioned methods for terminating flight of the aircraft have the following problems: (1) The method of having the user control the aircraft to perform the flight termination operation through the physical button is not independent enough. It relies on the communication link between the control device 100 and the aircraft 200 to transmit the flight termination command. If the communication link is abnormal, such as being interfered with or interrupted, the flight termination command will not be transmitted to the aircraft, which will seriously affect flight safety and increase the risk of accidents. On the other hand, this method requires the user to operate the physical button on the control device at the work site to issue the flight termination command, and only a single user who has the control device can issue the flight termination command, which is not convenient and flexible enough. (2) The communication link between the control device 100 and the aircraft 200 is usually a wireless connection link, but the range of the wireless connection is limited. Especially in remote or wide-area environments, there are situations where the aircraft cannot receive the flight termination command in a timely and reliable manner, resulting in flight safety problems. (3) The method of terminating flight by disconnecting the battery of the control aircraft will result in a slow flight termination speed and a lack of necessary data recording. The data integrity is insufficient, making it difficult to conduct post-event analysis and optimization.

[0093] To at least solve the above-mentioned problem (1), this application provides a flight termination method, including: a first server receiving a flight termination command and sending the flight termination command to a flight termination device mounted on the aircraft, wherein the first server includes a first cloud server; the flight termination device responds to receiving the flight termination command sent by the first server and controls the aircraft to perform a flight termination operation, wherein the communication link for the flight termination device to receive the flight termination command does not pass through the control device of the aircraft, and the control device is used to control the attitude of the aircraft. This application sends the flight termination command to the aircraft through an independent cloud server, without relying on physical buttons on the control device used to control the attitude of the aircraft, and the communication link for transmitting the flight termination command does not pass through the control device used to control the attitude of the aircraft. On the one hand, this ensures that the sending of the flight termination command is not affected by the communication link between the control device and the aircraft, thereby ensuring the independence and reliability of the flight termination command sending, and thus enabling safer control of the aircraft to terminate the flight. On the other hand, by issuing the flight termination command through the cloud server, remote control can be achieved, and multi-user convenient control is supported, improving the convenience and flexibility of flight termination.

[0094] To at least solve the above-mentioned problem (2), this application embodiment also provides a flight termination method, including: a first server 11 receiving a flight termination command and sending the flight termination command to a flight termination device 12 mounted on the aircraft; the flight termination device 12 responding to receiving the flight termination command controls the aircraft to perform a flight termination operation, wherein the communication link used to transmit the flight termination command includes a mobile communication network link, and the communication link does not pass through the aircraft's control equipment, the control equipment being used to control the aircraft's attitude. This application embodiment sends the flight termination command to the aircraft via a mobile communication network link, enabling long-distance transmission of the flight termination command, allowing the aircraft to receive the flight termination command promptly and reliably, improving the reliability and real-time performance of the flight termination command transmission, and also expanding the application scope of the flight termination system.

[0095] For example, in scenarios where a nest device controls an aircraft, the nest device is usually deployed in a relatively remote location. When using a wireless connection link between the nest device and the aircraft to transmit flight termination commands, the user needs to be stationed near the nest device to terminate the aircraft's flight, which limits the application scope. However, this application transmits flight termination commands to the aircraft via a mobile communication network link, realizing long-distance transmission of flight termination commands. The user does not need to be stationed near the nest device to terminate the aircraft's flight, and the deployment of the nest device will not affect the implementation of the flight termination operation.

[0096] To at least solve the above-mentioned problem (3), this application embodiment also provides a flight termination method, including: a first server 11 receiving a flight termination command and sending the flight termination command to a flight termination device 12 mounted on the aircraft; the flight termination device 12 receiving the flight termination command and sending the flight termination command to the aircraft's power system, the power system including an electronic speed controller and a power unit, the electronic speed controller responding to the flight termination command controlling the aircraft's power unit to stop operating, wherein the communication link used to transmit the flight termination command passes through the flight termination device and does not pass through the aircraft's control equipment, the control equipment is used to control the aircraft's attitude, and the energy module of the aircraft used to supply power to the power system remains in a power supply state when the power system stops operating. This application embodiment sends a flight termination command directly to the aircraft's electronic speed controller, allowing the electronic speed controller to directly control the aircraft's power system to stop operating, instead of first disconnecting the aircraft's energy module (e.g., cutting off the battery) to passively stop the power system. This increases the speed at which the aircraft performs the flight termination operation. Furthermore, the aircraft's energy module remains connected while the power system is stopped, allowing for the recording of flight termination-related data, ensuring data integrity, and facilitating subsequent analysis and aircraft optimization.

[0097] To at least address the aforementioned problems (1) and (2), this application embodiment also provides a flight termination method, comprising: a first server receiving a flight termination command and sending the flight termination command to a flight termination device mounted on the aircraft, wherein the first server includes a first cloud server; the flight termination device, in response to receiving the flight termination command sent by the first server, controls the aircraft to perform a flight termination operation, wherein the communication link through which the flight termination device receives the flight termination command includes a mobile communication network link, and the communication link does not pass through the aircraft's control equipment, the control equipment being used to control the aircraft's attitude. This application embodiment not only improves the independence and reliability of flight termination command transmission, as well as the convenience and flexibility of flight termination, but also improves the reliability and real-time performance of flight termination command transmission and expands the application scope of the flight termination system.

[0098] To at least solve the above problems (1) and (3), this application embodiment also provides a flight termination method, including: a first server receiving a flight termination command and sending the flight termination command to a flight termination device mounted on the aircraft, wherein the first server includes a first cloud server; the flight termination device receiving the flight termination command and sending the flight termination command to the aircraft's power system, the power system including an electronic speed controller and a power unit, the electronic speed controller responding to the flight termination command and controlling the aircraft's power unit to stop operating, wherein the communication link used to transmit the flight termination command passes through the flight termination device and does not pass through the aircraft's control equipment, the control equipment is used to control the aircraft's attitude, and the energy module of the aircraft used to supply power to the power system remains powered even when the power system stops operating. This application embodiment not only improves the independence and reliability of the flight termination command transmission and the convenience and flexibility of flight termination, but also improves the speed at which the aircraft performs flight termination operations and can record data related to the aircraft's flight termination, ensuring data integrity and facilitating subsequent analysis and optimization of the aircraft.

[0099] To at least address the aforementioned problems (2) and (3), this application embodiment also provides a flight termination method, comprising: a first server receiving a flight termination command and sending the flight termination command to a flight termination device mounted on the aircraft; the flight termination device receiving the flight termination command and sending the flight termination command to the aircraft's power system, the power system including an electronic speed controller and a power unit, the electronic speed controller responding to the flight termination command and controlling the aircraft's power unit to stop operating, wherein the communication link used to transmit the flight termination command includes a mobile communication network link, and the communication link passes through the flight termination device but not through the aircraft's control equipment, the control equipment being used to control the aircraft's attitude, and the energy module of the aircraft used to supply power to the power system maintaining a power supply state even when the power system stops operating. This application embodiment not only improves the reliability and real-time performance of the flight termination command transmission and expands the application scope of the flight termination system, but also improves the speed at which the aircraft performs flight termination operations and can record data related to the aircraft's flight termination, ensuring data integrity and facilitating subsequent analysis and optimization of the aircraft.

[0100] To at least solve the above problems (1), (2) and (3), this application embodiment also provides a flight termination method, including: a first server receiving a flight termination command and sending the flight termination command to a flight termination device mounted on the aircraft, wherein the first server includes a first cloud server; the flight termination device receiving the flight termination command and sending the flight termination command to the aircraft's power system, the power system including an electronic speed controller and a power unit, the electronic speed controller responding to the flight termination command and controlling the aircraft's power unit to stop operating, wherein the communication link used to transmit the flight termination command includes a mobile communication network link, and the communication link passes through the flight termination device but not through the aircraft's control equipment, the control equipment is used to control the aircraft's attitude, and the energy module of the aircraft used to supply power to the power system remains in a power supply state when the power system stops operating.

[0101] As shown in Figure 2, the first server 11 sends a flight termination command to the flight termination device 12 mounted on the aircraft via a mobile communication network link. The flight termination device 12 then sends the flight termination command to the aircraft's propulsion system. The electronic speed controller in the aircraft's propulsion system responds to the flight termination command and controls the aircraft's propulsion system to stop operating, thereby terminating the aircraft's flight. Sending the flight termination command to the aircraft via an independent cloud server and a mobile communication network link enables long-distance transmission of the flight termination command, improving the independence, real-time performance, and reliability of the command transmission. Furthermore, users can remotely control the aircraft, and multi-user operation is supported, enhancing the convenience and flexibility of flight termination. Simultaneously, by directly sending the flight termination command to the aircraft's electronic speed controller, the controller can directly control the aircraft's propulsion system to stop operating, thereby increasing the speed at which the aircraft executes the flight termination operation. It also records data related to the flight termination, ensuring data integrity and facilitating subsequent analysis and aircraft optimization.

[0102] This application provides a flight termination method based on an independent cloud communication link (e.g., a communication link between a first server and a flight termination device), mobile communication network transmission, and direct control of an electronic speed controller (ESC) to stop the aircraft's propellers and maintain the integrity of data recording. This method can serve as a safety control measure for aircraft in abnormal situations. The independent communication link avoids interference, ensuring the real-time nature and reliability of flight termination commands. The use of a mobile communication network enables long-distance, high-bandwidth data transmission, expanding the application scope of flight termination. Directly sending flight termination commands to the ESC accelerates the stoppage, improves emergency response speed, and preserves data recording. The cloud-based design of the system enhances operational convenience and management efficiency, avoiding reliance on a physical remote controller. Therefore, it significantly improves the flexibility, reliability, efficiency, and real-time performance of flight termination.

[0103] It should be noted that the flight termination method provided in this application embodiment can be applied to one or more combinations of cloud servers, control devices, flight termination devices, aircraft, mobile phones, computers, etc.

[0104] The execution subject of the flight termination method provided in this application embodiment may include at least one of cloud server, control equipment, flight termination device, aircraft, mobile phone, computer, etc.

[0105] Please refer to Figure 3, which is a schematic flowchart of the steps of a flight termination method provided in an embodiment of this application.

[0106] As shown in Figure 3, the flight termination method includes steps S111 to S112.

[0107] Step S111: The first server receives the flight termination command and sends the flight termination command to the flight termination device carried by the aircraft. The first server includes a first cloud server.

[0108] Step S112: In response to receiving the flight termination command sent by the first server, the flight termination device controls the aircraft to perform a flight termination operation. The communication link through which the flight termination device receives the flight termination command does not pass through the aircraft's control equipment, which is used to control the aircraft's attitude.

[0109] This embodiment sends flight termination commands to the aircraft via an independent cloud server, eliminating the need for physical buttons on the control equipment used to control the aircraft's attitude. This ensures the independence and reliability of the flight termination command transmission, as it is unaffected by the communication link between the control equipment and the aircraft. Furthermore, sending the flight termination command via the cloud server enables remote control and supports convenient multi-user operation, improving the convenience and flexibility of flight termination.

[0110] In some embodiments, the first server includes a first interface, which can be accessed via a browser and is used to receive flight termination commands. The first interface may be a user interface; for example, the first interface includes a first user interface through which a user can trigger a flight termination command, and the first server receives the user-triggered flight termination command through the first user interface.

[0111] In some embodiments, the first server further includes an access interface for the first interface and a communication module for transmitting flight termination commands. The access interface may include a QR code and / or a web link for accessing the first interface. The communication module for transmitting flight termination commands may include a mobile communication module. For example, the mobile communication module may include a 3G network module (a network module based on third-generation mobile communication technology), a 4G network module (a network module based on fourth-generation mobile communication technology), or a 5G network module (a network module based on fifth-generation mobile communication technology).

[0112] In some embodiments, sending a flight termination command to the flight termination device onboard the aircraft may include sending the flight termination command to the flight termination device via a mobile communication module in the first server. Transmitting the flight termination command via the mobile communication module in the first server enables long-distance transmission of the flight termination command, allowing the aircraft to receive the command promptly and reliably. This improves the reliability and real-time performance of the flight termination command transmission and also expands the application scope of the flight termination system.

[0113] In some embodiments, the flight termination command is triggered in response to a user's operation. For example, the first server includes a first interface with a flight termination button. The first server determines the flight termination command in response to the user's input operation on the flight termination button. The user's input operation on the flight termination button may include a single click, a double click, or a long press. This embodiment implements manual control of the aircraft's flight termination to meet the user's manual control needs, thus avoiding the inability to reliably and promptly terminate the aircraft's flight when the automatic control of flight termination fails.

[0114] In some embodiments, the first server acquires key information and aircraft identification information input by the user in the first interface; in response to the user's input of the flight termination button, the first server determines a flight termination command based on the key information and aircraft identification information input by the user. For example, the user accesses the first interface through an access interface that may include a QR code and / or a web link; the first server acquires key information and aircraft identification information input by the user in the first interface; in response to the user's click of the flight termination button, the first server determines a flight termination command based on the key information and aircraft identification information input by the user.

[0115] In some embodiments, the flight termination command is automatically triggered by the application. For example, a second server receives flight status data and environmental data uploaded by the aircraft; in response to the flight status data and environmental data meeting preset flight termination trigger conditions, it sends an instruction message to a first server, which instructs the first server to send a flight termination command to the corresponding flight termination device on the aircraft. This embodiment realizes automatic control of the aircraft's flight termination, enabling more timely control of the aircraft to terminate its flight and improving the intelligence of flight termination control.

[0116] The flight status data may include at least one of the following: the aircraft's position, altitude, energy module temperature, remaining energy in the energy module, and / or flight duration. Environmental data may include wind speed and / or the distance between obstacles and the aircraft. Preset flight termination trigger conditions may include at least one of the following: the aircraft entering a restricted flight area (e.g., a restricted flight area or no-fly zone), the aircraft's altitude falling below a preset altitude threshold, the temperature of the aircraft's energy module exceeding a preset temperature threshold, the remaining energy in the aircraft's energy module falling below a preset energy threshold, and the aircraft's flight duration exceeding a preset duration threshold.

[0117] In some embodiments, the communication link through which the flight termination device receives the flight termination command includes a mobile communication network link. This mobile communication network link is based on mobile communication technology, including at least one of third-generation (3G), fourth-generation (4G), and fifth-generation (5G) mobile communication technologies. For example, the mobile communication network link may include a 3G network link, a 4G network link, and / or a 5G network link. This embodiment of the application transmits the flight termination command to the aircraft via a mobile communication network link, enabling long-distance transmission of the flight termination command. This allows the aircraft to receive the flight termination command promptly and reliably, improving the reliability and real-time performance of the flight termination command transmission, and also expanding the application scope of the flight termination system.

[0118] In some embodiments, the control device for controlling the aircraft's pose includes controlling the aircraft's position and / or attitude. Controlling the aircraft's position may include controlling the aircraft's position in the horizontal and / or vertical directions. In other embodiments, the control device is also used to control the shooting parameters of a shooting device within the aircraft and / or the attitude of the gimbal carrying the shooting device.

[0119] In some embodiments, the aircraft's control device is capable of transmitting attitude control commands to the aircraft's communication module at least via a non-mobile communication network link. This non-mobile communication network link may include Bluetooth or WiFi communication links, etc. In other embodiments, the aircraft's control device is capable of transmitting attitude control commands to the aircraft's communication module via both non-mobile communication network links and mobile communication network links. This mobile communication network link may include 3G, 4G, and / or 5G network links.

[0120] In some embodiments, the aircraft's control device is capable of transmitting attitude control commands to the aircraft's communication module at least via a point-to-point communication link. In other embodiments, the aircraft's control device is capable of transmitting attitude control commands to the aircraft's communication module not only via a point-to-point communication link but also via a mobile communication network link. This mobile communication network link includes 3G, 4G, and / or 5G network links.

[0121] In some embodiments, the control equipment of the aircraft includes internal control equipment. The flight termination device mounted on the aircraft differs from the internal control equipment. The flight termination device is independent of the internal control equipment. For example, the flight termination device is a separate physical hardware device; the aircraft may or may not carry the flight termination device, while the internal control equipment (e.g., the flight control system on the aircraft) is built into the aircraft.

[0122] In some embodiments, the control equipment of the aircraft includes external control equipment. This external control equipment includes a remote control device, a nesting device, and / or a second server. The remote control device can be a motion-sensing remote control device or a non-motion-sensing remote control device, and can include a remote controller, smartphone, tablet, or laptop, etc. The nesting device is a device for automating the operation of the aircraft. For example, the nesting device is used to control the aircraft's automatic takeoff and / or automatic landing, supply power to the aircraft's energy module, receive flight tasks sent by the second server, issue flight tasks to the aircraft, receive task execution results uploaded by the aircraft, and send the aircraft's task execution results to the second server. The second server includes a second cloud server, which is a one-stop flight mission management cloud platform. It has functions such as planning aircraft missions, real-time monitoring of aircraft mission execution, data storage, and analysis reports. It supports collaborative operation and remote control of multiple aircraft. For example, it is used to issue flight tasks to the aircraft and receive task execution results uploaded by the aircraft, and also to issue flight tasks to the nesting device and receive the aircraft's task execution results sent by the nesting device.

[0123] In some embodiments, the communication link through which the flight termination device receives the flight termination command does not pass through external control equipment of the aircraft, and / or, the communication link through which the flight termination device receives the flight termination command does not pass through internal control equipment of the aircraft.

[0124] In some embodiments, the communication link through which the flight termination device receives the flight termination command does not pass through the attitude control remote controller (e.g., the aircraft's remote controller) that is wirelessly connected to the aircraft, and / or the communication link through which the flight termination device receives the flight termination command does not pass through the aircraft's original attitude controller (e.g., the flight control system on the aircraft).

[0125] In some embodiments, the first server and the second server are two different servers. For example, the first server includes a first cloud server, and the second server includes a second cloud server. The first cloud server and the second cloud server are two independent and different cloud servers. In this embodiment, the first server used to send flight termination commands and the second server used to send attitude control commands are two different servers. This achieves independence between the transmission links of flight termination commands and attitude control commands, ensuring that the transmission of flight termination commands is not interfered with or affected by the transmission links of attitude control commands, thereby improving the reliability of flight termination command transmission.

[0126] In some embodiments, the first server has the function of sending flight termination commands to the flight termination device on the aircraft, while the second server does not have the function of sending flight termination commands to the flight termination device on the aircraft. This embodiment independently deploys the function of sending flight termination commands to the flight termination device on the first server, ensuring that this function is not affected by other functions and improving the reliability of flight termination command transmission.

[0127] In some embodiments, the first server also has the function of receiving data sent by the aircraft. For example, the first server receives flight status data and environmental data sent by the aircraft; in response to the flight status data and environmental data meeting preset flight termination trigger conditions, the first server sends a flight termination command to the corresponding flight termination device on the aircraft. As another example, the first server receives key information sent by the flight termination device, which is used to determine the flight termination command. The key information in the flight termination command may be entered by the user after viewing the key information provided by the first server.

[0128] In some embodiments, the second server also has the function of sending flight termination commands to the control equipment inside the aircraft. For example, the second server sends a flight termination command to the nesting device, which then sends the command to the corresponding aircraft. The control equipment inside the aircraft, upon receiving the flight termination command from the nesting device, controls the aircraft to perform a flight termination operation. As another example, the second server sends a flight termination command to the control equipment inside the aircraft via a mobile network communication link. The control equipment inside the aircraft, upon receiving the command from the nesting device, controls the aircraft to perform a flight termination operation.

[0129] In some embodiments, a second server provides key information for generating flight termination instructions received by the first server. The second server includes a second cloud server. The key information provided by the second server is determined and sent to the second server by the flight termination device. For example, the key information provided by the second server is the most recently determined key information by the flight termination device.

[0130] In some embodiments, the key information in the flight termination command is input by the user through the first server after viewing key information provided by the second server. For example, the second server includes a second interface accessible via a browser and used to provide key information. For instance, in response to a key viewing request, the second server sends key information to the second interface for display. The second interface can be a user interface; for example, it includes a second user interface accessible via a browser and used to display key information. The user can then view the key information displayed on the second user interface and input it through the first server, thereby triggering the flight termination command.

[0131] In some embodiments, the second server further includes: an access interface providing the second interface, and an IoT platform for storing key information. The access interface for the second interface includes a QR code and / or a web link for accessing the second interface. For example, in response to the aircraft not taking off or taking off, the flight termination device sends the latest determined key information to the nesting device. The nesting device synchronizes the latest determined key information to the IoT platform for storage. The second cloud server retrieves the stored key information from the IoT platform and displays the key information through a second user interface for user viewing.

[0132] In some embodiments, the flight termination device may be detachably or fixedly mounted on the aircraft.

[0133] In some embodiments, detachably installing the flight termination device on the aircraft facilitates repair or replacement in case of damage, promotes independent development and testing of the device, and allows for selective configuration based on relevant regional laws and regulations, thereby enhancing user experience. Furthermore, when the flight termination device is detachably installed on the aircraft, it can be controlled via an independent communication link to terminate the flight, ensuring the independence and reliability of flight termination command transmission and making the implementation of independent flight termination functionality more convenient. When the flight termination device is removed from the aircraft, it can be controlled via an existing control link to terminate the flight. Optionally, the flight termination device is not part of an existing control link for controlling flight termination, but rather a device on an independent control link for controlling flight termination.

[0134] In some embodiments, by fixing a flight termination device to the aircraft, the use of the aircraft is made legaler by preventing the user from disassembling the flight termination device and causing the aircraft to fail to meet the legal and regulatory requirements of the relevant region.

[0135] In some embodiments, this application also provides a flight termination method: In response to the aircraft being equipped with a flight termination device, a flight termination command is received via a first communication link, wherein the first communication link passes through a first server and the flight termination device, but not through the aircraft's control equipment, the control equipment being used to control the aircraft's attitude, and the first server including a first cloud server; In response to the aircraft not being equipped with a flight termination device, a flight termination command is received via a second communication link, the second communication link passing through the aircraft's control equipment, the control equipment being used to control the aircraft's attitude; In response to the flight termination command, the aircraft is controlled to perform a flight termination operation. The aircraft can also receive attitude control commands sent by the control equipment via the second communication link. In this embodiment, regardless of whether the aircraft is equipped with a flight termination device, the aircraft can receive a flight termination command and perform a flight termination operation, improving the stability of flight termination.

[0136] In some embodiments, the aircraft includes a mobile communication network module, which is detachably or fixedly mounted on the aircraft.

[0137] In some embodiments, the detachable installation of the mobile communication network module on the aircraft facilitates repair or replacement in case of damage, promotes independent development and testing of the mobile communication network module, and allows users to selectively configure the mobile communication network module based on actual application needs. Furthermore, the detachable installation of the mobile communication network module on the aircraft enables convenient transmission of flight termination commands via the mobile communication network link, thereby achieving long-distance transmission of flight termination commands and expanding the application scope of the flight termination system.

[0138] In some embodiments, by fixing the mobile communication network module on the aircraft, the situation where the user cannot correctly reinstall the mobile communication network module after disassembling it is avoided, thereby improving the user experience.

[0139] In some embodiments, the flight termination device is detachably or fixedly mounted on the mobile communication network module. The flight termination device can receive flight termination commands sent by a first server through the mobile communication network module. For example, the flight termination device can be detachably mounted on the mobile communication network module, and then the mobile communication network module can be detachably mounted on the aircraft, thus making the flight termination device detachably mounted on the aircraft. This embodiment facilitates repair or replacement of the flight termination device when it is damaged by detachably mounting the flight termination device on the mobile communication network module, while fixedly mounting the flight termination device on the mobile communication network module avoids situations where users cannot correctly reinstall the flight termination device after disassembling it, thereby improving the user experience.

[0140] In some embodiments, the flight termination device has a built-in mobile communication network module. The flight termination device can receive flight termination commands sent by a first server through the built-in mobile communication network module. In this embodiment, the built-in mobile communication network module can be more tightly integrated with the core hardware and software of the flight termination device, reducing latency and further improving the real-time performance of receiving flight termination commands compared to using an external mobile communication network module.

[0141] In some embodiments, the flight termination device has a built-in first mobile communication network module, and the aircraft includes a second mobile communication network module. The first and second mobile communication network modules are not the same. The flight termination device uses the built-in first mobile communication network module to receive flight termination commands sent by a first server, while the second mobile communication network module is detachably or fixedly installed in the aircraft. In this embodiment, the flight termination device receives flight termination commands through a built-in first mobile communication network module that is different from the second mobile communication network module included in the aircraft. This avoids reusing the second mobile communication network module included in the aircraft, allowing for more timely and reliable reception of flight termination commands, thus improving the timeliness, reliability, and stability of flight termination.

[0142] In some embodiments, sending a flight termination command to the flight termination device on the aircraft may include: the first server performing a security verification on the flight termination command and, in response to the flight termination command passing the security verification, sending the flight termination command to the flight termination device on the aircraft. In this embodiment, the flight termination command is sent to the flight termination device only after passing the security verification to avoid attacks from malicious actors, thereby ensuring the security of flight termination.

[0143] In some embodiments, security verification of flight termination commands includes: determining the frequency of flight termination commands received by the first server; determining that the flight termination command passes security verification if the frequency meets a preset frequency condition, and determining that the flight termination command fails security verification if the frequency does not meet the preset frequency condition. The preset frequency condition can be set based on actual conditions, and this embodiment does not specifically limit it. For example, the frequency of flight termination commands received by the first server meeting the preset frequency condition includes the frequency of flight termination commands received by the first server being less than or equal to a preset frequency threshold, and the frequency of flight termination commands received by the first server not meeting the preset frequency condition includes the frequency of flight termination commands received by the first server being greater than the preset frequency threshold. This embodiment can prevent malicious actors from brute-forcing the protection of the flight termination system by frequently triggering flight termination commands, thereby improving the security of flight termination.

[0144] In some embodiments, the flight termination command carries the aircraft's identification information. The frequency of flight termination commands received by the first server includes the frequency of flight termination commands carrying the same identification information received by the first server. For example, if the frequency of flight termination commands carrying the same identification information received by the first server is less than or equal to a preset frequency threshold, the flight termination command is determined to have passed the security verification; if the frequency of flight termination commands carrying the same identification information received by the first server is greater than the preset frequency threshold, the flight termination command is determined to have failed the security verification. The aircraft's identification information is used to uniquely identify the aircraft. For example, the aircraft's identification information may include the aircraft's product serial number or an identification code generated based on the aircraft's product serial number and activation time. This embodiment can prevent malicious actors from brute-forcing the flight termination system's protection by frequently triggering flight termination commands carrying the same identification information, thereby improving the security of flight termination.

[0145] In some embodiments, the flight termination command carries the aircraft's identification information. Security verification of the flight termination command includes: determining that the flight termination command passes security verification if the identification information carried by the flight termination command meets preset identification conditions; and determining that the flight termination command fails security verification if the identification information carried by the flight termination command does not meet the preset identification conditions. This embodiment can prevent malicious actors from using the identification information of aircraft that does not meet the preset identification conditions to brute-force the protection of the flight termination system, thereby improving the security of flight termination.

[0146] In some embodiments, the identification information of the aircraft carried by the flight termination command meets preset identification conditions, including the presence of the identification information of the aircraft carrying the flight termination command in the preset identification whitelist; the identification information of the aircraft carried by the flight termination command does not meet preset identification conditions, including the absence of the identification information of the aircraft carrying the flight termination command in the preset identification whitelist. The preset identification whitelist is pre-defined, and the identification information in the preset identification whitelist consists of the identification information of aircraft already registered in the first server.

[0147] In some embodiments, after the first server sends the flight termination command to the flight termination device on the aircraft, the method further includes: the first server, in response to not receiving a response from the flight termination device, obtaining the number of times the flight termination command has been retransmitted; in response to the number of retransmissions being less than or equal to a preset threshold, retransmitting the flight termination command to the flight termination device; or in response to the number of retransmissions being greater than the preset threshold, sending a prompt message to the first server, the prompt message indicating that the flight termination command transmission failed. This embodiment improves the reliability and stability of transmitting flight termination commands by retransmitting the flight termination command to the flight termination device when no response is received and the number of retransmissions does not exceed a set value.

[0148] In some embodiments, the flight termination device, in response to receiving a flight termination command from a first server, controls the aircraft to perform a flight termination operation. This includes: the flight termination device, in response to receiving the flight termination command from the first server, sending the flight termination command to the aircraft's power system. The power system includes an electronic speed controller and a power unit. The electronic speed controller, in response to the flight termination command, controls the aircraft's power unit to stop operating. The energy module of the aircraft, which supplies power to the power system, remains powered even when the power system stops operating. This embodiment improves the speed of the flight termination operation by directly sending the flight termination command to the aircraft's electronic speed controller, allowing the electronic speed controller to directly control the aircraft's power system to stop operating. Furthermore, since the aircraft's energy module remains connected even when the power system stops operating, data related to the flight termination can be recorded, ensuring data integrity and facilitating subsequent analysis and aircraft optimization.

[0149] In some embodiments, the energy module in the aircraft may include one or more combinations of batteries, fuel-powered energy modules, nuclear-powered energy modules, or solar-powered energy modules.

[0150] It should be noted that the flight termination command is a broad term used to control an aircraft to perform a flight termination operation. The specific manifestation of the flight termination command can differ between the first server, the flight termination command itself, and the electronic speed controller. For example, the manifestation of the flight termination command received by the first server may differ from that sent to the flight termination device, and the manifestation of the flight termination command received by the flight termination device may differ from that sent to the electronic speed controller. Specifically, in response to receiving the flight termination command from the first server, the flight termination device generates a command to control the power unit to stop operating and sends this command to the electronic speed controller. The electronic speed controller, in response to this command, controls the aircraft's power unit to stop operating. In this scenario, the command to control the power unit to stop operating is also equivalent to the flight termination command.

[0151] In some embodiments, if the energy module supplying power to the aircraft's propulsion system remains powered even when the propulsion system stops operating, the energy module will not actively respond to the flight termination command and exit the power supply state. However, the user can control the energy module to exit the power supply state, for example, by receiving a user-triggered command from the control device to control the energy module to exit the power supply state, and responding to the command to control the energy module to exit the power supply state. Alternatively, the energy module may passively exit the functional state, for example, when the energy module's power is depleted, or when the energy module is damaged due to overheating after the flight terminates, thus passively exiting the functional state.

[0152] In some embodiments, the energy module of the aircraft used to power the propulsion system maintains power supply even when the propulsion system is stopped. This includes ensuring that the energy module can at least maintain power supply to the recording module of the aircraft's sensors when the propulsion system is stopped. The aircraft's sensors may include an inertial measurement unit, a barometric altimeter, a positioning sensor, radar, an infrared sensor, an image sensor, an ambient light sensor, a Time-of-Flight (TOF) sensor, a temperature sensor, a vibration sensor, an air temperature sensor, a humidity sensor, a wind speed sensor, etc. In this embodiment, the aircraft's energy module can at least maintain power supply to the recording module of the aircraft's sensors when the propulsion system is stopped, thereby recording sensor data related to the aircraft's flight termination process. This prevents data loss due to the shutdown of the propulsion system, ensures data integrity, and facilitates subsequent analysis and aircraft optimization.

[0153] In some embodiments, the flight termination device, in response to receiving a flight termination command from a first server, controls the aircraft to perform a flight termination operation. This includes: the flight termination device, in response to receiving the flight termination command from the first server, sending the flight termination command to the aircraft's power system. The power system includes an electronic speed controller (ESC) and a power unit. The ESC, in response to the flight termination command, controls the aircraft's power unit to stop operating. The energy module of the aircraft, which supplies power to the power system, remains powered even after the power system stops operating. This embodiment improves the speed of the flight termination operation by directly sending the flight termination command to the ESC, allowing the ESC to directly control the aircraft's power system to stop operating. Furthermore, the energy module remains connected after the power system stops operating, enabling the recording of relevant data after flight termination, such as sensor data, ensuring data integrity and facilitating subsequent analysis and aircraft optimization.

[0154] In some embodiments, the energy module of the aircraft that powers the propulsion system continues to provide power after the propulsion system stops operating. This may include ensuring that the energy module can at least maintain power to the recording modules of the aircraft's sensors after the propulsion system stops operating. In this embodiment, the aircraft's energy module can at least maintain power to the recording modules of the aircraft's sensors after the propulsion system stops operating, thereby enabling the recording of relevant data after flight termination, ensuring the integrity of the relevant data, and facilitating subsequent analysis and optimization of the aircraft.

[0155] In some embodiments, the energy module supplying power to the propulsion system remains powered even when the propulsion system stops operating, and it also remains powered after the propulsion system stops operating. In this embodiment, the aircraft's energy module remains connected both during and after the propulsion system stops operating, thus allowing for the recording of data not only during flight termination but also afterward. This improves data integrity and facilitates subsequent analysis and aircraft optimization.

[0156] In some embodiments, the power system is at least capable of receiving a first flight termination command transmitted by the flight termination device and a second flight termination command transmitted by the aircraft's control equipment. The electronic speed controller (ESC) is capable of responding to the first and / or second flight termination commands to control the aircraft's power unit to stop operating. The second flight termination command is transmitted from the aircraft's external control equipment to the aircraft's communication module. The aircraft's internal control equipment obtains the second flight termination command through this communication module and transmits it to the power system. In this embodiment, the ESC is configured with at least two input interfaces. These two input interfaces can be used to receive the flight termination command transmitted by the flight termination device and the flight termination command transmitted by the aircraft's control equipment, respectively. The ESC is configured with at least one output interface, which can be connected to the power unit and used to send a stop command to the power unit. This stop command is determined based on the flight termination commands received by the two output interfaces. Thus, on the one hand, the aircraft's control equipment can directly send a flight termination command to the ESC, and the ESC directly controls the power unit to stop operating. On the other hand, the flight termination device can directly send a flight termination command to the ESC, and the ESC directly stops the power unit. On the other hand, the control equipment and flight termination device can work together, allowing the electronic speed controller to directly control the power unit to stop operating. This enables faster flight termination and ensures that the power system receives the flight termination command more reliably and stably, thus improving the reliability and stability of flight termination. For example, if the aircraft's control equipment malfunctions, the flight termination device can independently transmit the flight termination command, thereby ensuring the reliability of flight termination.

[0157] In some embodiments, the flight termination device, in response to receiving a flight termination command sent by a first server, controls the aircraft to perform a flight termination operation, including: the flight termination device, in response to receiving the flight termination command sent by the first server, controls the energy module of the aircraft used to supply power to the aircraft's power system to exit the power supply state, so that the aircraft's power system stops operating.

[0158] In some embodiments, the flight termination device sends a flight termination command to the aircraft's power system, including: the flight termination device verifying the flight termination command; and in response to the flight termination command passing the verification, sending the flight termination command to the aircraft's power system. This embodiment, by sending the flight termination command to the power system after verification, allows the electronic speed controller in the power system to stop the power unit, thereby safely controlling the aircraft to terminate its flight and improving the safety of flight termination.

[0159] In some embodiments, the flight termination device, in response to receiving a flight termination command sent by a first server, controls the aircraft to perform a flight termination operation, including: the flight termination device verifying the flight termination command; and in response to the flight termination command passing the verification, controlling the aircraft to perform the flight termination operation. This embodiment, by controlling the aircraft to perform the flight termination operation only after the flight termination command has passed verification, can safely control the aircraft to terminate its flight, thereby improving the security of flight termination.

[0160] In one embodiment, the flight termination device's verification of the flight termination command may include comparing the key information in the flight termination command with the key information in the flight termination device. For example, if the key information in the flight termination command is the same as the key information in the flight termination device, the flight termination command is determined to have passed verification; if the key information in the flight termination command is different from the key information in the flight termination device, the flight termination command is determined to have failed verification. This embodiment verifies the flight termination command by comparing key information, which improves the verification speed and also ensures the security of the flight termination command.

[0161] In some embodiments, comparing the key information in the flight termination command with the key information in the flight termination device may include: obtaining a first hash value of the key information in the flight termination device, calculating a second hash value of the key information in the flight termination command; if the first hash value and the second hash value are the same, determining that the key information in the flight termination command and the key information in the flight termination device are the same; if the first hash value and the second hash value are different, determining that the key information in the flight termination command and the key information in the flight termination device are different. The first hash value of the key information in the flight termination device may be calculated during the comparison of the key information in the flight termination command and the key information in the flight termination device, or it may be calculated after the flight termination device determines the key information.

[0162] In one embodiment, the flight termination device's verification of the flight termination command may include: comparing the aircraft's identification information in the flight termination command with the aircraft's identification information in the flight termination device, and comparing the key information in the flight termination command with the key information in the flight termination device. For example, if the key information in the flight termination command is the same as the key information in the flight termination device, and the aircraft's identification information in the flight termination command is also the same as the aircraft's identification information in the flight termination device, the flight termination command is determined to have passed verification. If the key information in the flight termination command is different from the key information in the flight termination device, and / or the aircraft's identification information in the flight termination command is different from the aircraft's identification information in the flight termination device, the flight termination command is determined to have failed verification. This embodiment verifies the flight termination command by comparing the aircraft's identification information and also comparing the key information, which can further improve the security of the flight termination command.

[0163] In some embodiments, the key information in the flight termination command is input by the user through a first server. For example, the first server includes a first interface, which includes a flight termination button. The flight termination command is determined by the first server in response to the user's input to the flight termination button, based on the key information and aircraft identification information input by the user in the first interface. Specifically, the flight termination method provided in this application embodiment further includes: the first server acquiring the key information and aircraft identification information input by the user in the first interface; and the first server determining the flight termination command based on the key information and aircraft identification information input by the user in response to the user's input to the flight termination button.

[0164] In some embodiments, a second server provides key information for determining the flight termination command. The second server includes a second cloud server. For example, the key information in the flight termination command is input by the user through the first server after viewing the key information provided by the second server. This embodiment provides key information through the second server and determines the flight termination command and sends the flight termination command to the flight termination device through the first server. This achieves the deployment of the key information provision function and the flight termination command issuance function on different servers, reducing the impact of the key information provision function on the flight termination command issuance function and improving the reliability and stability of the flight termination command transmission.

[0165] In some embodiments, the first server may also provide key information for determining the flight termination command. For example, the first server includes a third interface accessible via a browser and used to provide key information. This third interface may be a user interface, such as a third user interface accessible via a browser, used to display the key information. The user can then view the key information displayed on the third user interface and input it through the first interface included in the first server, thereby triggering the flight termination command.

[0166] In some embodiments, the flight termination device determines a key information every preset time interval. The preset time interval can be set based on actual conditions, and this application embodiment does not specifically limit it. For example, the preset time interval may be 1 hour, 2 hours, or 3 hours, meaning the flight termination device determines a key information interval every 1 hour, 2 hours, or 3 hours.

[0167] In some embodiments, after determining a key information, the flight termination device synchronizes the newly determined key information to the second server, so that the second server updates the stored key information. This embodiment, by synchronizing the newly determined key information to the second server, ensures that the key information provided by the second server is up-to-date, avoiding the provision of invalid key information to the user. This reduces the likelihood of flight termination commands issued to the flight termination device failing to control the aircraft's flight termination, thus improving the user experience.

[0168] In some embodiments, synchronizing the latest determined key information to the second server by the flight termination device may include: the flight termination device synchronizing the latest determined key information to the second server in response to the aircraft not taking off; and / or, the flight termination device synchronizing the latest determined key information to the second server when the aircraft takes off. Wherein, the flight termination device may not synchronize the latest determined key information to the second server after the aircraft has taken off. This embodiment, by synchronizing the latest determined key information to the second server before and / or during aircraft takeoff, ensures that the key information provided by the second server is up-to-date, avoiding the occurrence of invalid key information provided to the user, reducing the possibility that the flight termination command issued to the flight termination device cannot control the aircraft to terminate flight, and improving the user experience.

[0169] In some embodiments, synchronizing the newly determined key information to the second server via the flight termination device may include: the flight termination device sending the newly determined key information to a key information forwarding device within the aircraft, so that the key information forwarding device synchronizes the received key information to the second server. The key information forwarding device is independent of the aircraft's control equipment. For example, the key information forwarding device is independent of the aircraft's internal control equipment. In this embodiment, the flight termination device transmits the determined key information to the key information forwarding device within the aircraft, which then synchronizes the key information to the second server. This reduces the communication overhead of the flight termination device, ensuring the reliability and stability of the flight termination device receiving flight termination commands.

[0170] In some embodiments, the second server includes an Internet of Things (IoT) platform. Synchronizing the received key information to the second server via the key information forwarding device may include: the key information forwarding device sending the received key information to the aircraft's nesting device; the nesting device sending the key information to the IoT platform; and the IoT platform receiving and storing the key information sent by the nesting device. The second server also includes a second cloud server, which retrieves the key information from the IoT platform and displays it through a user interface for user viewing.

[0171] In some embodiments, the process of the nested device sending key information to the IoT platform may include: the nested device sending the key information to the IoT platform via a preset message transmission protocol. The preset message transmission protocol may include the Message Queuing Telemetry Transport (MQTT) protocol.

[0172] In some embodiments, the key information in the flight termination device includes first key information and second key information. The flight termination device determines the first key information later than it determines the second key information, and the interval between determining the first key information and determining the second key information is a preset time. Since the flight termination device contains two key information pieces with different determination times, when comparing the key information in the flight termination command, one key information piece can be selected for comparison. This avoids situations where updating the key information causes the flight termination command verification to fail, requiring the user to re-enter the latest key information, thus improving the timeliness of flight termination.

[0173] In some embodiments, comparing the key information in the flight termination command with the key information in the flight termination device includes: comparing the key information in the flight termination command with first key information or second key information in the flight termination device; in response to the key information in the flight termination command being the same as the first key information or the second key information, determining that the flight termination command passes verification; in response to the key information in the flight termination command being different from both the first key information and the second key information, determining that the flight termination command fails verification. This embodiment can avoid the situation where updating the key information causes the verification of the flight termination command to fail, requiring the user to re-enter the latest key information, thus improving the timeliness of flight termination.

[0174] In some embodiments, the key information in the flight termination command includes first key information input by the user. Comparing the key information in the flight termination command with the key information in the flight termination device includes: in response to the validity period of the key information in the flight termination command being less than a preset time, comparing the key information in the flight termination command with the first key information in the flight termination device. In this embodiment, when the key information input by the user is the most recently determined key information, i.e., the key information in the flight termination command is valid, selecting to compare the first key information in the flight termination device with the key information in the flight termination command can avoid the situation where updating the key information causes the verification of the flight termination command to fail, requiring the user to re-enter the latest key information, thus improving the timeliness of flight termination.

[0175] In some embodiments, the key information in the flight termination command includes second key information input by the user, and the first key information is determined by the flight termination device after the user inputs the second key information. Comparing the key information in the flight termination command with the key information in the flight termination device includes: in response to the validity period of the key information in the flight termination command being greater than a preset time and less than or equal to twice the preset time, comparing the key information in the flight termination command with the second key information in the flight termination device. This embodiment, by comparing the key information in the flight termination command with the second key information in the flight termination device when the validity period of the key information input by the user exceeds the preset time and the flight termination device has determined the latest key information, avoids the situation where updating the key information causes the verification of the flight termination command to fail, requiring the user to re-enter the latest key information, thus improving the timeliness of flight termination.

[0176] Please refer to Figure 4, which is a schematic flowchart of another flight termination method provided in the embodiments of this application.

[0177] As shown in Figure 4, the flight termination method includes:

[0178] Step S11: The flight termination device on board the aircraft determines a key information every preset time interval and transmits the latest determined key information to the key information forwarding device in the aircraft.

[0179] Step S12: The key information forwarding device forwards the received key information to the nest device.

[0180] Step S13: The nested device synchronizes the key information to the IoT platform via the MQTT protocol;

[0181] Step S14: The second cloud server obtains key information from the IoT platform and displays it through the second interface for users to view. The second interface includes a QR code or web link for accessing the first interface of the first server.

[0182] Step S15: After viewing the key information, the user accesses the first interface via a browser by scanning a QR code or clicking a web link, and enters the key information and the aircraft's identification information through the first interface.

[0183] Step S16: After the user clicks the flight termination button included in the first interface, the flight termination command carrying key information and aircraft identification information is sent to the first cloud server through the first interface.

[0184] Step S17: The first cloud server determines the frequency of the received flight termination command.

[0185] Step S18: In response to the frequency being less than or equal to a preset frequency threshold, the first cloud server sends a flight termination command to the MQTT Broker. The MQTT Broker then uses the MQTT protocol and mobile communication network to send the flight termination command to the gateway in the flight termination device.

[0186] In this embodiment, if the first cloud server does not receive a response from the flight termination device within a set time period, the first cloud server resends the flight termination command to the flight termination device until the first cloud server receives a response from the flight termination device or the number of resentments of the flight termination command exceeds a preset threshold.

[0187] Step S19: The gateway in the flight termination device receives the flight termination command sent by the MQTT Broker, and the flight termination device compares the key in the flight termination command with the key in the flight termination device.

[0188] Step S20: The flight termination device responds to the fact that the key in the flight termination command is the same as the key in the flight termination device, and sends the flight termination command to the electronic speed controller of the aircraft.

[0189] Step S21: The electronic speed controller responds to the flight termination command and controls the aircraft's power unit to stop operating, thereby terminating the flight. The flight termination device sends a success message to the first cloud server via the mobile communication network. The energy module of the aircraft that supplies power to the power system continues to supply power even when the power system stops operating.

[0190] Step S22: In response to the fact that the key in the flight termination command is different from the key in the flight termination device, the flight termination device sends a failure message to the first cloud server through the mobile communication network module.

[0191] This embodiment provides a flight termination method based on an independent cloud communication link (e.g., a communication link between a first server and a flight termination device), mobile communication network transmission, and direct control of the aircraft's propeller stop and maintenance of data recording integrity via an electronic speed controller. This method can serve as a safety control measure for aircraft in abnormal situations. The independent communication link avoids interference, ensuring the real-time nature and reliability of flight termination commands. The use of a mobile communication network enables long-distance, high-bandwidth data transmission, expanding the application scope of flight termination. Directly sending flight termination commands to the electronic speed controller accelerates propeller stop speed, improves emergency response speed, and preserves data records. The cloud-based design of the system enhances operational convenience and management efficiency, avoiding reliance on a physical remote controller. Therefore, it significantly improves the flexibility, reliability, efficiency, and real-time performance of flight termination.

[0192] In some embodiments, the first cloud server may send the flight termination command directly to the flight termination device instead of through the MQTT Broker. For example, step 18 above can be replaced by: in response to the frequency being less than or equal to a preset frequency threshold, the first cloud server sends the flight termination command to the gateway in the flight termination device via the mobile communication network. Step 19 above can be replaced by: the gateway in the flight termination device receiving the flight termination command sent by the first cloud server, and the flight termination device comparing the key in the flight termination command with the key in the flight termination device.

[0193] Please refer to Figure 5, which is a schematic flowchart illustrating the steps of another flight termination method provided in an embodiment of this application. This flight termination method can be applied to an aircraft or to a flight termination device within an aircraft.

[0194] As shown in Figure 5, the flight termination method includes steps S121 to S122.

[0195] Step S121: Receive the flight termination command sent by the first server, wherein the first server includes a first cloud server, the communication link for transmitting the flight termination command includes the first server and the flight termination device carried by the aircraft, and the communication link does not pass through the control equipment of the aircraft, the control equipment is used to control the attitude of the aircraft.

[0196] Step S122: Respond to the flight termination command and control the aircraft to perform the flight termination operation.

[0197] This embodiment sends flight termination commands to the aircraft via an independent cloud server, eliminating the need for physical buttons on the control equipment used to control the aircraft's attitude. This ensures the independence and reliability of the flight termination command transmission, as it is unaffected by the communication link between the control equipment and the aircraft. Furthermore, sending flight termination commands via the cloud server allows for remote control by users and supports convenient multi-user operation, enhancing the convenience and flexibility of flight termination.

[0198] In some embodiments, the communication link for transmitting flight termination commands includes a mobile communication network link. This embodiment transmits flight termination commands to the aircraft via a mobile communication network link, achieving long-distance transmission of the flight termination commands. This improves the independence, real-time performance, and reliability of flight termination command transmission, enabling the aircraft to receive flight termination commands promptly and reliably. This also enhances the reliability and real-time performance of flight termination command transmission and expands the application scope of the flight termination system.

[0199] In some embodiments, controlling an aircraft to perform a flight termination operation may include: sending a flight termination command to the aircraft's propulsion system, which includes an electronic speed controller (ESC) and a power unit; the ESC responding to the flight termination command by controlling the aircraft's power unit to stop operating; wherein the energy module of the aircraft that supplies power to the propulsion system remains powered during and / or after the propulsion system stops operating. This embodiment improves the speed of flight termination by directly sending a flight termination command to the ESC, allowing the ESC to directly control the aircraft's propulsion system to stop operating. Furthermore, since the energy module remains connected during and / or after the propulsion system stops operating, data related to the flight termination can be recorded, ensuring data integrity and facilitating subsequent analysis and aircraft optimization.

[0200] In some embodiments, controlling the aircraft to perform a flight termination operation in response to a flight termination command may include: controlling the energy module of the aircraft that supplies power to the aircraft's propulsion system to exit the power supply state in response to the flight termination command, so that the aircraft's propulsion system stops operating.

[0201] It should be noted that the specific implementation process of the flight termination method provided in Figure 5 can be referred to the corresponding embodiment in the flight termination method provided in Figure 3, and will not be repeated here.

[0202] Please refer to Figure 6, which is a schematic flowchart illustrating the steps of another flight termination method provided in an embodiment of this application. This flight termination method can be applied to a first server, which includes a first cloud server.

[0203] As shown in Figure 6, the flight termination method includes steps S131 to S132.

[0204] Step S131: Receive flight termination command, wherein the communication link used to transmit the flight termination command includes a first server and a flight termination device, and the communication link does not pass through the control equipment of the aircraft, the control equipment is used to control the attitude of the aircraft.

[0205] Step S132: Send the flight termination command to the flight termination device on the aircraft so that the flight termination device can respond to the flight termination command and control the aircraft to perform the flight termination operation.

[0206] This embodiment sends flight termination commands to the aircraft via an independent cloud server, eliminating the need for physical buttons on the control equipment used to control the aircraft's attitude. This ensures the independence and reliability of the flight termination command transmission, as it is unaffected by the communication link between the control equipment and the aircraft. Furthermore, sending flight termination commands via the cloud server allows for remote control by users and supports convenient multi-user operation, enhancing the convenience and flexibility of flight termination.

[0207] In some embodiments, the first server further includes a first interface, and receiving a flight termination command includes receiving the flight termination command through the first interface. The first interface can be accessed via a browser. For example, the first interface includes a first user interface, through which a user can trigger a flight termination command, and the first server receives the user-triggered flight termination command through the first user interface.

[0208] In some embodiments, sending a flight termination command to the flight termination device onboard the aircraft may include sending the flight termination command to the flight termination device via a mobile communication module in the first server. Transmitting the flight termination command via the mobile communication module in the first server enables long-distance transmission of the flight termination command, allowing the aircraft to receive the command promptly and reliably. This improves the reliability and real-time performance of the flight termination command transmission and also expands the application scope of the flight termination system.

[0209] It should be noted that the specific implementation process of the flight termination method provided in Figure 6 can be referred to the corresponding embodiment in the flight termination method provided in Figure 3, and will not be repeated here.

[0210] Please refer to Figure 7, which is a schematic flowchart of another flight termination method provided in the embodiments of this application.

[0211] As shown in Figure 7, the flight termination method includes steps S211 to S212.

[0212] Step S211: The first server receives the flight termination command and sends the flight termination command to the flight termination device on the aircraft.

[0213] Step S212: In response to receiving a flight termination command, the flight termination device controls the aircraft to perform a flight termination operation. The communication link used to transmit the flight termination command includes a mobile communication network link, and the communication link does not pass through the aircraft's control equipment. The control equipment is used to control the aircraft's attitude.

[0214] This embodiment sends flight termination commands to the aircraft via a mobile communication network link, enabling long-distance transmission of flight termination commands. This allows the aircraft to receive flight termination commands promptly and reliably, improving the reliability and real-time performance of flight termination command transmission and expanding the application scope of the flight termination system.

[0215] In some embodiments, the first server includes a first cloud server. Sending the flight termination command to the flight termination device mounted on the aircraft may include the first cloud server sending the flight termination command to the flight termination device mounted on the aircraft. This embodiment sends the flight termination command to the aircraft via an independent cloud server, eliminating the need for physical buttons on the control device used to control the aircraft's attitude. This ensures that the transmission of the flight termination command is not affected by the communication link between the control device and the aircraft, guaranteeing the independence and reliability of the command transmission. Furthermore, sending the flight termination command via the cloud server allows users to remotely control the aircraft and supports convenient multi-user operation, improving the convenience and flexibility of flight termination.

[0216] In some embodiments, the first server further includes a first interface, and the first server receiving the flight termination command includes: the first server receiving the flight termination command through the first interface. The first interface can be accessed via a browser. For example, the first interface includes a first user interface, through which a user can trigger the flight termination command, and the first server receives the user-triggered flight termination command through the first user interface.

[0217] In some embodiments, the flight termination device, in response to receiving a flight termination command, controls the aircraft to perform a flight termination operation, including: sending the flight termination command to the aircraft's power system, the power system including an electronic speed controller and a power unit; the electronic speed controller, in response to the flight termination command, controlling the aircraft's power unit to stop operating; wherein the energy module of the aircraft used to supply power to the power system remains powered even when and / or after the power system stops operating. This embodiment improves the speed of the aircraft's flight termination operation by directly sending the flight termination command to the aircraft's electronic speed controller, allowing the electronic speed controller to directly control the aircraft's power unit to stop operating. Furthermore, the energy module of the aircraft is not disconnected after the power unit stops operating, thus allowing the recording of data related to the flight termination, ensuring data integrity, and facilitating subsequent analysis and aircraft optimization.

[0218] It should be noted that the specific implementation process of the flight termination method provided in Figure 7 can be referred to the corresponding embodiment in the flight termination method provided in Figure 3, and will not be repeated here.

[0219] Please refer to Figure 8, which is a schematic flowchart illustrating the steps of another flight termination method provided in this application embodiment. This flight termination method is applied to an aircraft or a flight termination device mounted on an aircraft.

[0220] As shown in Figure 8, the flight termination method includes steps S221 to S222.

[0221] Step S221: Receive flight termination command, wherein the communication link used to transmit the flight termination command includes a mobile communication network link, and the communication link passes through the flight termination device carried by the aircraft, but does not pass through the control equipment of the aircraft, and the control equipment is used to control the attitude of the aircraft.

[0222] Step S222: Respond to the flight termination command and control the aircraft to perform the flight termination operation.

[0223] This embodiment sends flight termination commands to the aircraft via a mobile communication network link, enabling long-distance transmission of flight termination commands. This allows the aircraft to receive flight termination commands promptly and reliably, improving the reliability and real-time performance of flight termination command transmission and expanding the application scope of the flight termination system.

[0224] In some embodiments, receiving a flight termination command may include: receiving a flight termination command sent by a first server, wherein the first server includes a first cloud server, the communication link for transmitting the flight termination command includes a mobile communication network link, and the communication link passes through the first server and the flight termination device. This embodiment sends the flight termination command to the aircraft via a mobile communication network link and an independent cloud server, achieving not only long-distance transmission of the flight termination command but also eliminating the need for physical buttons on the control device used to control the aircraft's attitude. This ensures the independence, reliability, and real-time performance of the flight termination command transmission, improves the convenience and flexibility of flight termination, and expands the application scope of the flight termination system.

[0225] In some embodiments, responding to a received flight termination command, controlling the aircraft to perform a flight termination operation includes: sending the flight termination command to the aircraft's propulsion system, the propulsion system including an electronic speed controller and a power unit; the electronic speed controller responding to the flight termination command controlling the aircraft's power unit to stop operating; wherein the energy module of the aircraft for supplying power to the propulsion system remains powered during and / or after the propulsion system stops operating. This embodiment improves the speed of flight termination by directly sending the flight termination command to the aircraft's electronic speed controller, allowing the electronic speed controller to directly control the aircraft's power unit to stop operating. Furthermore, the energy module remains connected during and / or after the power unit stops operating, allowing for the recording of flight termination-related data, ensuring data integrity, and facilitating subsequent analysis and aircraft optimization.

[0226] It should be noted that the specific implementation process of the flight termination method provided in Figure 8 can be referred to the corresponding embodiment in the flight termination method provided in Figure 3, and will not be repeated here.

[0227] Please refer to Figure 9, which is a schematic flowchart illustrating the steps of another flight termination method provided in an embodiment of this application. This flight termination method is applied to a first server.

[0228] As shown in Figure 9, the flight termination method includes steps S231 to S232.

[0229] Step S231: Receive flight termination command, wherein the communication link used to transmit the flight termination command includes a mobile communication network link, and the communication link passes through the flight termination device carried by the aircraft, but does not pass through the control equipment of the aircraft, and the control equipment is used to control the attitude of the aircraft.

[0230] Step S232: Send the flight termination command to the flight termination device so that the flight termination device can respond to the flight termination command and control the aircraft to perform the flight termination operation.

[0231] This embodiment sends flight termination commands to the aircraft via a mobile communication network link, enabling long-distance transmission of flight termination commands. This allows the aircraft to receive flight termination commands promptly and reliably, improving the reliability and real-time performance of flight termination command transmission and expanding the application scope of the flight termination system.

[0232] In some embodiments, the first server further includes a first interface, and receiving a flight termination command includes receiving the flight termination command through the first interface. The first interface can be accessed via a browser. For example, the first interface includes a first user interface, through which a user can trigger a flight termination command, and the first server receives the user-triggered flight termination command through the first user interface.

[0233] In some embodiments, sending a flight termination command to the flight termination device onboard the aircraft may include sending the flight termination command to the flight termination device via a mobile communication module in the first server. Transmitting the flight termination command via the mobile communication module in the first server enables long-distance transmission of the flight termination command, allowing the aircraft to receive the command promptly and reliably. This improves the reliability and real-time performance of the flight termination command transmission and also expands the application scope of the flight termination system.

[0234] In some embodiments, in response to receiving a flight termination command, controlling the aircraft to perform a flight termination operation includes: sending the flight termination command to the aircraft's power system, the power system including an electronic speed controller and a power unit; the electronic speed controller responding to the flight termination command controlling the aircraft's power unit to stop operating; wherein the energy module of the aircraft used to supply power to the power system remains powered during and / or after the power system stops operating. This embodiment improves the speed of the aircraft's flight termination operation by directly sending the flight termination command to the aircraft's electronic speed controller, allowing the electronic speed controller to directly control the aircraft's power system to stop operating. Furthermore, the energy module of the aircraft is not disconnected during and / or after the power system stops operating, thus allowing the recording of data related to the aircraft's flight termination, ensuring data integrity, and facilitating subsequent analysis and aircraft optimization.

[0235] It should be noted that the specific implementation process of the flight termination method provided in Figure 9 can be referred to the corresponding embodiment in the flight termination method provided in Figure 3, and will not be repeated here.

[0236] Please refer to Figure 10, which is a schematic flowchart of another flight termination method provided in the embodiments of this application.

[0237] As shown in Figure 10, the flight termination method includes steps S311 to S312.

[0238] Step S311: The first server receives the flight termination command and sends the flight termination command to the flight termination device on the aircraft.

[0239] Step S312: The flight termination device receives the flight termination command and sends the flight termination command to the aircraft's power system. The power system includes an electronic speed controller and a power unit. The electronic speed controller responds to the flight termination command and controls the aircraft's power unit to stop operating. The communication link used to transmit the flight termination command passes through the flight termination device and does not pass through the aircraft's control equipment. The control equipment is used to control the attitude of the aircraft. The energy module of the aircraft used to supply power to the power system continues to supply power even when the power system stops operating.

[0240] This embodiment sends a flight termination command directly to the aircraft's electronic speed controller, enabling the electronic speed controller to directly control the aircraft's power system to stop operating. This increases the speed at which the aircraft performs flight termination operations. Furthermore, the aircraft's energy module remains connected during and / or after the power system stops operating, allowing for the recording of flight termination-related data. This ensures data integrity and facilitates subsequent analysis and aircraft optimization.

[0241] In some embodiments, the first server includes a first cloud server. Sending the flight termination command to the flight termination device mounted on the aircraft may include the first cloud server sending the flight termination command to the flight termination device mounted on the aircraft. This embodiment sends the flight termination command to the aircraft via an independent cloud server, ensuring that the transmission of the flight termination command is not affected by the communication link between the control equipment and the aircraft, thus guaranteeing the independence and reliability of the flight termination command transmission. Furthermore, issuing the flight termination command via a cloud server enables remote control and supports convenient multi-user operation, improving the convenience and flexibility of flight termination.

[0242] In some embodiments, the first server further includes a first interface, and the first server receiving the flight termination command includes: the first server receiving the flight termination command through the first interface. The first interface can be accessed via a browser. For example, the first interface includes a first user interface, through which a user can trigger the flight termination command, and the first server receives the user-triggered flight termination command through the first user interface.

[0243] In some embodiments, the communication link for transmitting flight termination commands includes a mobile communication network link. This embodiment transmits flight termination commands to the aircraft via a mobile communication network link, enabling long-distance transmission of the commands. This allows the aircraft to receive the commands promptly and reliably, improving the reliability and real-time performance of the command transmission and expanding the application scope of the flight termination system.

[0244] It should be noted that the specific implementation process of the flight termination method provided in Figure 10 can be referred to the corresponding embodiment in the flight termination method provided in Figure 3, and will not be repeated here.

[0245] Please refer to Figure 11, which is a schematic flowchart illustrating the steps of another flight termination method provided in this application embodiment. This flight termination method can be applied to an aircraft or a flight termination device mounted on an aircraft.

[0246] As shown in Figure 11, the flight termination method includes steps S321 to S322.

[0247] Step S321: Receive flight termination command. The communication link used to transmit the flight termination command passes through the flight termination device on the aircraft and does not pass through the aircraft's control equipment. The control equipment is used to control the attitude of the aircraft.

[0248] Step S322: Send the flight termination command to the aircraft's power system. The power system includes an electronic speed controller and a power unit. The electronic speed controller responds to the flight termination command and controls the aircraft's power unit to stop operating. The energy module of the aircraft that supplies power to the power system continues to supply power even when the power system stops operating.

[0249] This embodiment sends a flight termination command directly to the aircraft's electronic speed controller, enabling the electronic speed controller to directly control the aircraft's power system to stop operating. This increases the speed at which the aircraft performs flight termination operations. Furthermore, the aircraft's energy module remains connected during and / or after the power system stops operating, allowing for the recording of flight termination-related data. This ensures data integrity and facilitates subsequent analysis and aircraft optimization.

[0250] In some embodiments, receiving a flight termination command includes receiving a flight termination command sent by a first server. The first server includes a first cloud server, and the communication link for transmitting the flight termination command passes through the flight termination device mounted on the aircraft and the first server. This embodiment sends the flight termination command to the aircraft via an independent cloud server, ensuring that the transmission of the flight termination command is not affected by the communication link between the control device and the aircraft, thus guaranteeing the independence and reliability of the flight termination command transmission. Furthermore, issuing the flight termination command through the cloud server allows users to remotely control the aircraft and supports convenient multi-user operation, improving the convenience and flexibility of flight termination.

[0251] In some embodiments, the communication link for transmitting flight termination commands includes a mobile communication network link. This embodiment transmits flight termination commands to the aircraft via a mobile communication network link, enabling long-distance transmission of the commands. This allows the aircraft to receive the commands promptly and reliably, improving the reliability and real-time performance of the command transmission and expanding the application scope of the flight termination system.

[0252] It should be noted that the specific implementation process of the flight termination method provided in Figure 11 can be referred to the corresponding embodiment in the flight termination method provided in Figure 3, and will not be repeated here.

[0253] Please refer to Figure 12, which is a schematic block diagram of a flight termination device provided in an embodiment of this application.

[0254] As shown in Figure 12, the flight termination device 12 includes a communication device 121, at least one processor 122, and at least one memory 123 containing computer program code. The communication device 121, at least one processor 122, and at least one memory 123 are connected via a bus 124, such as an I2C (Inter-integrated Circuit) bus.

[0255] Specifically, the processor 122 can be a microcontroller unit (MCU), a central processing unit (CPU), or a digital signal processor (DSP), etc.

[0256] Specifically, the memory 123 can be a Flash chip, a read-only memory (ROM) disk, an optical disk, a USB flash drive, or a portable hard drive, etc.

[0257] The processor 122 is used to run computer program code stored in the memory 123, and performs the following steps when executing the computer program code:

[0258] The communication device receives a flight termination command sent by a first server, wherein the first server includes a first cloud server, the communication link for transmitting the flight termination command includes the first server and the flight termination device mounted on the aircraft, and the communication link does not pass through the control equipment of the aircraft, the control equipment is used to control the attitude of the aircraft;

[0259] In response to the flight termination command, control the aircraft to perform a flight termination operation.

[0260] In some embodiments, the processor 122 is configured to run computer program code stored in the memory 123, and perform the following steps when executing the computer program code:

[0261] The flight termination command is received through the communication device, wherein the communication link for receiving the flight termination command includes a mobile communication network link, and the communication link passes through the communication device and the flight termination device mounted on the aircraft, but does not pass through the control equipment of the aircraft, the control equipment being used to control the attitude of the aircraft;

[0262] In response to the flight termination command, control the aircraft to perform a flight termination operation.

[0263] In some embodiments, the processor 122 is configured to run computer program code stored in the memory 123, and perform the following steps when executing the computer program code:

[0264] The flight termination command is received through the communication device, wherein the communication link for transmitting the flight termination command passes through the flight termination device mounted on the aircraft, but does not pass through the control equipment of the aircraft, and the control equipment is used to control the attitude of the aircraft.

[0265] The flight termination command is sent to the aircraft's power system, which includes an electronic speed controller and a power unit. The electronic speed controller responds to the flight termination command by controlling the aircraft's power unit to stop operating. The energy module of the aircraft that supplies power to the power system continues to supply power even when the power system stops operating.

[0266] 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 flight termination device described above can be referred to the corresponding process in the aforementioned flight termination method embodiments, and will not be repeated here.

[0267] Please refer to Figure 13, which is a schematic block diagram of the structure of an aircraft provided in an embodiment of this application.

[0268] As shown in Figure 13, the aircraft 200 includes a fuselage 210, a power system 220, a control device 230, and a flight termination device 240. The power system 220, located on the fuselage 210, provides flight propulsion for the aircraft 200. The control device 230 controls the attitude of the aircraft 200. The flight termination device 240, located on the fuselage 210, controls the aircraft 200 to perform a flight termination operation. It can be understood that the flight termination device 240 can be the flight termination device 12 shown in Figure 12.

[0269] 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 flight termination method embodiments, and will not be repeated here.

[0270] Please refer to Figure 14, which is a schematic block diagram of a flight termination system provided in an embodiment of this application.

[0271] As shown in Figure 14, the flight termination system 10 includes a first server 11 and a flight termination device 12, wherein:

[0272] The first server 11 is used to receive a flight termination instruction and send the flight termination instruction to the flight termination device 12, wherein the first server includes a first cloud server;

[0273] The flight termination device 12 is mounted on the aircraft and is used to control the aircraft to perform a flight termination operation in response to receiving the flight termination command sent by the first server. The communication link through which the flight termination device receives the flight termination command does not pass through the control equipment of the aircraft, and the control equipment is used to control the attitude of the aircraft.

[0274] In some embodiments, the first server 11 is configured to receive a flight termination instruction and send the flight termination instruction to the flight termination device;

[0275] The flight termination device 12 is mounted on the aircraft and is used to control the aircraft to perform a flight termination operation in response to receiving the flight termination command. The communication link used to transmit the flight termination command includes a mobile communication network link, and the communication link does not pass through the control equipment of the aircraft. The control equipment is used to control the attitude of the aircraft.

[0276] In some embodiments, the first server 11 is configured to receive a flight termination instruction and send the flight termination instruction to the flight termination device;

[0277] The flight termination device 12 is mounted on the aircraft and is used to receive the flight termination command and send the flight termination command to the aircraft's power system. The power system includes an electronic speed controller and a power unit. The electronic speed controller responds to the flight termination command and controls the aircraft's power unit to stop operating. The communication link used to transmit the flight termination command passes through the flight termination device and does not pass through the aircraft's control equipment. The control equipment is used to control the aircraft's attitude. The energy module of the aircraft that supplies power to the power system continues to supply power even when the power system stops operating.

[0278] 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 flight termination system described above can be referred to the corresponding process in the aforementioned flight termination method embodiments, and will not be repeated here.

[0279] Please refer to Figure 15, which is a schematic block diagram of the structure of a flight system provided in an embodiment of this application.

[0280] As shown in Figure 15, the flight system 20 includes an aircraft 200 and a flight termination system 10.

[0281] 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 flight system described above can be referred to the corresponding process in the aforementioned flight termination method embodiments, and will not be repeated here.

[0282] This application also provides a computer-readable storage medium storing computer program code, which includes program instructions. The processor executes the program instructions to implement the steps of the flight termination method provided in the above embodiments.

[0283] The computer-readable storage medium can be an internal storage unit of the aircraft or the first server as described in any of the foregoing embodiments, such as a hard disk or memory of the aircraft or the first server. The computer-readable storage medium can also be an external storage device of the aircraft or the first server, such as a plug-in hard disk, smart media card (SMC), secure digital (SD) card, flash card, etc., equipped on the aircraft or the first server.

[0284] It should be understood that the terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the scope of 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.

[0285] It should also be understood that the term “and / or” as used in this application specification and the appended claims means any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0286] The above description is merely a specific embodiment 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

1. A flight termination method, characterized by, include: The first server receives the flight termination command and sends the flight termination command to the flight termination device on the aircraft, wherein the first server includes a first cloud server; The flight termination device responds to receiving the flight termination command sent by the first server and controls the aircraft to perform a flight termination operation. The communication link through which the flight termination device receives the flight termination command does not pass through the control equipment of the aircraft, and the control equipment is used to control the attitude of the aircraft.

2. A flight termination method, characterized by, include: The system receives a flight termination command sent by a first server, wherein the first server includes a first cloud server, the communication link for transmitting the flight termination command includes the first server and the flight termination device mounted on the aircraft, and the communication link does not pass through the control equipment of the aircraft, the control equipment being used to control the attitude of the aircraft. In response to the flight termination command, control the aircraft to perform a flight termination operation.

3. A flight termination method, characterized by, Applied to a first server, the first server including a first cloud server, the method includes: Receive a flight termination command and send the flight termination command to the flight termination device on the aircraft, so that the flight termination device can respond to the flight termination command and control the aircraft to perform a flight termination operation; The communication link used to transmit the flight termination command includes the first server and the flight termination device, and the communication link does not pass through the control equipment of the aircraft, which is used to control the attitude of the aircraft.

4. A flight termination method, characterized in that, include: The first server receives the flight termination command and sends the flight termination command to the flight termination device mounted on the aircraft; In response to receiving the flight termination command, the flight termination device controls the aircraft to perform a flight termination operation. The communication link used to transmit the flight termination command includes a mobile communication network link, and the communication link does not pass through the control equipment of the aircraft. The control equipment is used to control the attitude of the aircraft.

5. A flight termination method, characterized by, include: Receive a flight termination command, wherein the communication link for transmitting the flight termination command includes a mobile communication network link, and the communication link passes through the flight termination device mounted on the aircraft, but does not pass through the control equipment of the aircraft, the control equipment being used to control the attitude of the aircraft; In response to the flight termination command, control the aircraft to perform a flight termination operation.

6. A flight termination method, characterized by, The method, using a first server, includes: Receive a flight termination command and send the flight termination command to the flight termination device on the aircraft, so that the flight termination device can respond to the flight termination command and control the aircraft to perform a flight termination operation; The communication link used to transmit the flight termination command includes a mobile communication network link, and the communication link passes through the flight termination device but not through the control equipment of the aircraft. The control equipment is used to control the attitude of the aircraft.

7. A flight termination method, characterized by, include: The first server receives the flight termination command and sends the flight termination command to the flight termination device mounted on the aircraft; The flight termination device receives the flight termination command and sends the flight termination command to the aircraft's power system. The power system includes an electronic speed controller and a power unit. The electronic speed controller responds to the flight termination command and controls the aircraft's power unit to stop operating. The communication link used to transmit the flight termination command passes through the flight termination device and does not pass through the aircraft's control equipment. The control equipment is used to control the aircraft's attitude. The energy module of the aircraft that supplies power to the power system remains powered even when the power system stops operating.

8. A flight termination method, characterized by, include: Receive flight termination command, wherein the communication link for transmitting the flight termination command passes through the flight termination device mounted on the aircraft, but does not pass through the control equipment of the aircraft, the control equipment being used to control the attitude of the aircraft; The flight termination command is sent to the aircraft's power system, which includes an electronic speed controller and a power unit. The electronic speed controller responds to the flight termination command by controlling the aircraft's power unit to stop operating. The energy module of the aircraft that supplies power to the power system continues to supply power even when the power system stops operating.

9. The flight termination method of any one of claims 1-8, wherein, The flight termination command is triggered in response to a user's action, or it is triggered automatically by the application.

10. The flight termination method according to any one of claims 1-9, characterized in that, The control equipment of the aircraft is at least capable of transmitting attitude control commands to the aircraft's communication module via a non-mobile communication network link.

11. The flight termination method according to any one of claims 1-9, wherein, The control equipment of the aircraft is at least able to transmit attitude control commands to the communication module of the aircraft via a point-to-point communication link.

12. The flight termination method of any one of claims 1-11, wherein, The control equipment of the aircraft includes the control equipment inside the aircraft.

13. The flight termination method of claim 12, wherein, The flight termination device is different from the control equipment inside the aircraft.

14. The flight termination method of any one of claims 1-11, wherein, The control equipment of the aircraft includes external control equipment.

15. The flight termination method of claim 14, wherein, The external control equipment of the aircraft includes remote control equipment, nesting equipment, and / or a second server.

16. The flight termination method of claim 15 wherein, The second server includes a second cloud server.

17. The flight termination method according to claim 15, characterized in that, The first server and the second server are two different servers.

18. The flight termination method according to claim 15, characterized in that, The first server has the function of sending the flight termination command to the flight termination device mounted on the aircraft, while the second server does not have the function of sending the flight termination command to the flight termination device mounted on the aircraft.

19. The flight termination method of claim 5 or 8, wherein, The receiving of the flight termination command includes: Receive the flight termination command sent by the first server.

20. The flight termination method according to claim 1, 2, 3, 4, 6, 7, 9 or 19, characterized in that, The first server includes a first interface, which can be accessed via a browser and is used to receive the flight termination command.

21. The flight termination method according to claim 20, characterized in that, The first server also includes: an access interface that provides the first interface and a communication module for transmitting the flight termination command.

22. The flight termination method according to any one of claims 1-21, characterized in that, The second server provides key information for generating the flight termination command received by the first server. The second server includes a second cloud server.

23. The flight termination method according to claim 22, characterized in that, The key information in the flight termination command is entered by the user through the first server after viewing the key information provided by the second server.

24. The flight termination method according to claim 22, characterized in that, The second server includes a second interface, which can be accessed via a browser and is used to provide the key information.

25. The flight termination method according to claim 24, characterized in that, The second server also includes: an access interface that provides the second interface, and an IoT platform for storing the key information.

26. The flight termination method according to any one of claims 1-3, characterized in that, The communication link includes a mobile communication network link.

27. The flight termination method according to claim 4, 5, 6 or 26, characterized in that, The mobile communication network link is implemented based on mobile communication technology, which includes at least one of third-generation mobile communication technology, fourth-generation mobile communication technology, and fifth-generation mobile communication technology.

28. The flight termination method according to any one of claims 1-27, characterized in that, The flight termination device can be detachably or fixedly installed on the aircraft.

29. The flight termination method according to claim 28, characterized in that, The aircraft includes a mobile communication network module, which can be detachably or fixedly installed on the aircraft.

30. The flight termination method according to claim 29, characterized in that, The flight termination device can be detachably or fixedly installed on the mobile communication network module.

31. The flight termination method according to claim 28, characterized in that, The flight termination device has a built-in mobile communication network module.

32. The flight termination method according to claim 28, characterized in that, The flight termination device has a built-in first mobile communication network module, and the aircraft includes a second mobile communication network module. The first mobile communication network module and the second mobile communication network module are not the same mobile communication network module.

33. The flight termination method according to claim 1, 3, 4, 6 or 7, characterized in that, The first server sends the flight termination command to the flight termination device mounted on the aircraft, including: The first server performs a security check on the flight termination command and, in response to the flight termination command passing the security check, sends the flight termination command to the flight termination device mounted on the aircraft.

34. The flight termination method according to claim 33, characterized in that, The security verification of the flight termination command includes: The frequency of the flight termination command received by the first server is determined; in response to the frequency meeting a preset frequency condition, the flight termination command is determined to have passed the security check; in response to the frequency not meeting the preset frequency condition, the flight termination command is determined to have failed the security check.

35. The flight termination method according to claim 34, characterized in that, The flight termination command carries the identification information of the aircraft, and the frequency of the flight termination command received by the first server includes the frequency of flight termination commands carrying the same identification information received by the first server.

36. The flight termination method according to claim 33, characterized in that, The flight termination command carries the aircraft's identification information. A security verification is performed on the flight termination command, including: If the identification information meets the preset identification conditions, it is determined that the flight termination command has passed the security check; if the identification information does not meet the preset identification conditions, it is determined that the flight termination command has failed the security check.

37. The flight termination method according to any one of claims 1, 3, 4, 6, 7 or 33-36, characterized in that, After the first server sends the flight termination command to the flight termination device on the aircraft, it also includes: The first server, in response to not receiving a response from the flight termination device, obtains the number of times the flight termination command has been retransmitted; In response to the number of retransmissions being less than or equal to a preset threshold, the flight termination command is retransmitted to the flight termination device; or... In response to the number of retransmissions exceeding the preset threshold, a prompt message is sent to the first server, the prompt message indicating that the flight termination command failed to be issued.

38. The flight termination method according to any one of claims 1-6 or 26, characterized in that, The control of the aircraft to perform a flight termination operation includes: The flight termination command is sent to the aircraft's power system, which includes an electronic speed controller and a power unit. The electronic speed controller responds to the flight termination command by controlling the aircraft's power unit to stop operating. The energy module of the aircraft that supplies power to the power system continues to supply power even when the power system stops operating.

39. The flight termination method according to claim 7, 8 or 38, characterized in that, The energy module of the aircraft that supplies power to the propulsion system remains powered even when the propulsion system stops operating, including: the energy module being able to maintain power supply to at least the recording module of the aircraft's sensors when the propulsion system stops operating.

40. The flight termination method according to claim 7, 8, or 38, characterized in that, The power system is at least capable of receiving a first flight termination command transmitted by the flight termination device and a second flight termination command transmitted by the control equipment of the aircraft. The electronic speed controller is capable of responding to the first flight termination command and / or the second flight termination command to control the power unit of the aircraft to stop operating.

41. The flight termination method according to any one of claims 1-6, 26, or 38, characterized in that, The control of the aircraft to perform a flight termination operation includes: The flight termination command is sent to the aircraft's power system, which includes an electronic speed controller and a power unit. The electronic speed controller responds to the flight termination command and controls the aircraft's power unit to stop operating. The energy module of the aircraft that supplies power to the power system continues to supply power after the power system stops operating.

42. The flight termination method according to claim 41, characterized in that, The energy module of the aircraft that supplies power to the power system continues to supply power after the power system stops operating, including: the energy module is able to maintain power supply to at least the recording module of the aircraft's sensors after the power system stops operating.

43. The flight termination method according to any one of claims 1-6 or 26, characterized in that, The control of the aircraft to perform a flight termination operation includes: In response to the flight termination command, the energy module that supplies power to the aircraft's propulsion system is controlled to exit the power supply state, thereby causing the aircraft's propulsion system to stop operating.

44. The flight termination method according to claim 7, 8, 38 or 41, characterized in that, The step of sending the flight termination command to the aircraft's power system includes: The flight termination command is verified; In response to the flight termination command passing verification, the flight termination command is sent to the aircraft's power system.

45. The flight termination method according to any one of claims 1-6, characterized in that, The control of the aircraft to perform a flight termination operation includes: The flight termination command is verified; In response to the flight termination command passing the verification, the aircraft is controlled to perform a flight termination operation.

46. ​​The flight termination method according to claim 44 or 45, characterized in that, The verification of the flight termination command includes: Compare the key information in the flight termination command with the key information in the flight termination device; or The aircraft identification information in the flight termination command is compared with the aircraft identification information in the flight termination device, and the key information in the flight termination command is compared with the key information in the flight termination device.

47. The flight termination method according to claim 46, characterized in that, The key information in the flight termination command is input by the user, while the key information in the flight termination device is determined by the flight termination device.

48. The flight termination method according to claim 46 or 47, characterized in that, The key information in the flight termination command is input by the user through the first server.

49. The flight termination method according to claim 48, characterized in that, The first server includes a first interface, the first interface includes a flight termination button, and the method further includes: The first server obtains the key information and the aircraft identification information input by the user in the first interface; The first server responds to the user's input of the flight termination button and determines the flight termination command based on the key information and the aircraft's identification information input by the user.

50. The flight termination method according to claim 48, characterized in that, The second server provides key information for determining the flight termination command, and the second server includes a second cloud server.

51. The flight termination method according to claim 50, characterized in that, The key information in the flight termination command is entered by the user through the first server after viewing the key information provided by the second server.

52. The flight termination method according to claim 50 or 51, characterized in that, The second server also includes a second interface, which includes a QR code or web link for accessing the first interface of the first server.

53. The flight termination method according to claim 52, characterized in that, The method further includes: In response to the key viewing request, the second server sends the key information to the second interface so that the second interface can display the key information.

54. The flight termination method according to claim 48, characterized in that, The first server includes a first interface, which includes a flight termination button. The flight termination command is determined by the first server in response to the user's input operation on the flight termination button, based on the key information and aircraft identification information input by the user in the first interface.

55. The flight termination method according to claim 47, characterized in that, The flight termination device determines a key message at preset intervals.

56. The flight termination method according to claim 55, characterized in that, After determining a key information, the flight termination device synchronizes the newly determined key information to the second server so that the second server updates the stored key information.

57. The flight termination method according to claim 56, characterized in that, The step of synchronizing the newly determined key information to the second server includes: the flight termination device synchronizing the newly determined key information to the second server in response to the aircraft not taking off.

58. The flight termination method according to claim 56, characterized in that, The step of synchronizing the newly determined key information to the second server includes: the flight termination device synchronizing the newly determined key information to the second server when the aircraft takes off.

59. The flight termination method according to claim 56, characterized in that, The step of synchronizing the newly determined key information to the second server includes: the flight termination device sending the newly determined key information to the key information forwarding device in the aircraft, so that the key information forwarding device synchronizes the received key information to the second server, wherein the key information forwarding device is independent of the control equipment of the aircraft.

60. The flight termination method according to any one of claims 46-59, characterized in that, The key information in the flight termination device includes first key information and second key information. The time when the flight termination device determines the first key information is later than the time when it determines the second key information, and the interval between the time when it determines the first key information and the time when it determines the second key information is a preset time.

61. The flight termination method according to claim 60, characterized in that, The key information in the flight termination command includes the first key information input by the user.

62. The flight termination method according to claim 61, characterized in that, The step of comparing the key information in the flight termination command with the key information in the flight termination device includes: If the validity period of the key information in the flight termination command is less than a preset time, the key information in the flight termination command is compared with the first key information in the flight termination device.

63. The flight termination method according to claim 60, characterized in that, The key information in the flight termination command includes the second key information input by the user, and the first key information is determined by the flight termination device after the user inputs the second key information.

64. The flight termination method according to claim 63, characterized in that, The step of comparing the key information in the flight termination command with the key information in the flight termination device includes: In response to the fact that the validity period of the key information in the flight termination command is greater than the preset time and less than or equal to twice the preset time, the key information in the flight termination command is compared with the second key information in the flight termination device.

65. A flight termination device, characterized in that, The device includes: communication devices; At least one processor; At least one memory containing computer program code; Wherein, at least one of the memory and computer program code, together with at least one of the processor, are configured to cause the flight termination device to perform at least the following steps: The communication device receives a flight termination command sent by a first server, wherein the first server includes a first cloud server, the communication link for transmitting the flight termination command includes the first server and the flight termination device mounted on the aircraft, and the communication link does not pass through the control equipment of the aircraft, the control equipment is used to control the attitude of the aircraft; In response to the flight termination command, control the aircraft to perform a flight termination operation.

66. A flight termination device, characterized in that, The device includes: communication devices; At least one processor; At least one memory containing computer program code; Wherein, at least one of the memory and computer program code, together with at least one of the processor, are configured to cause the flight termination device to perform at least the following steps: The flight termination command is received through the communication device, wherein the communication link for transmitting the flight termination command includes a mobile communication network link, and the communication link passes through the flight termination device mounted on the aircraft, but does not pass through the control equipment of the aircraft, the control equipment being used to control the attitude of the aircraft; In response to the flight termination command, control the aircraft to perform a flight termination operation.

67. A flight termination device, characterized in that, The device includes: communication devices; At least one processor; At least one memory containing computer program code; Wherein, at least one of the memory and computer program code, together with at least one of the processor, are configured to cause the flight termination device to perform at least the following steps: The flight termination command is received through the communication device, wherein the communication link for transmitting the flight termination command passes through the flight termination device mounted on the aircraft, but does not pass through the control equipment of the aircraft, and the control equipment is used to control the attitude of the aircraft. The flight termination command is sent to the aircraft's power system, which includes an electronic speed controller and a power unit. The electronic speed controller responds to the flight termination command by controlling the aircraft's power unit to stop operating. The energy module of the aircraft that supplies power to the power system continues to supply power even when the power system stops operating.

68. An aircraft, characterized in that, include: Organism; A power system, located on the fuselage, is used to provide flight power for the aircraft; Control equipment for controlling the attitude of the aircraft; The flight termination device as described in any one of claims 65-67 is disposed on the aircraft body and is used to control the aircraft to perform a flight termination operation.

69. A flight termination system, characterized in that, Includes a first server and a flight termination device, wherein: The first server is used to receive a flight termination instruction and send the flight termination instruction to the flight termination device, wherein the first server includes a first cloud server; The flight termination device is mounted on the aircraft and is used to control the aircraft to perform a flight termination operation in response to receiving the flight termination command sent by the first server. The communication link through which the flight termination device receives the flight termination command does not pass through the control equipment of the aircraft, and the control equipment is used to control the attitude of the aircraft.

70. A flight termination system, characterized in that, Includes a first server and a flight termination device, wherein: The first server is used to receive the flight termination command and send the flight termination command to the flight termination device; The flight termination device is mounted on the aircraft and is used to control the aircraft to perform a flight termination operation in response to receiving the flight termination command. The communication link used to transmit the flight termination command includes a mobile communication network link, and the communication link does not pass through the control equipment of the aircraft. The control equipment is used to control the attitude of the aircraft.

71. A flight termination system, characterized in that, Includes a first server and a flight termination device, wherein: The first server is used to receive the flight termination command and send the flight termination command to the flight termination device; The flight termination device, mounted on the aircraft, is used to receive the flight termination command and send the flight termination command to the aircraft's power system. The power system includes an electronic speed controller and a power unit. In response to the flight termination command, the electronic speed controller controls the aircraft's power unit to stop operating. The communication link used to transmit the flight termination command passes through the flight termination device and does not pass through the aircraft's control equipment. The control equipment is used to control the aircraft's attitude. The energy module of the aircraft that supplies power to the power system remains powered even when the power system stops operating.

72. A flight system, characterized in that, include: Aircraft; as well as The flight termination system according to any one of claims 69-71.

73. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer program code that, when executed by a processor, causes the processor to implement the flight termination method as described in any one of claims 1-64.

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