Patent Publication Number: US-2021181767-A1

Title: Unmanned aerial vehicle control methods and systems, and unmanned aerial vehicles

Description:
RELATED APPLICATIONS 
     The present patent document is a continuation of PCT Application Ser. No. PCT/CN2018/097023, filed on Jul. 25, 2018, designating the United States, published in Chinese, content of which is incorporated herein by reference in its entirety. 
    
    
     BACKGROUND 
     1. Technical Field 
     The present disclosure relates to the field of unmanned aerial vehicles, and in particular, to unmanned aerial vehicle control methods and systems, and unmanned aerial vehicles. 
     2. Background Information 
     In conventional techniques, unmanned aerial vehicles have been extensively applied in scenarios such as aerial photographing, agriculture, plant protection, self-photographing, film/television shooting, express delivery, and disaster rescue. Currently, main optical systems of an unmanned aerial vehicle include a camera of a photographing system, a vision sensor of an obstacle avoidance system, a signal indicator system for representing a flight status of the unmanned aerial vehicle, and the like. The systems generally exist independently. For example, the information in a sensing assembly is basically a binocular depth map or main camera information, and a corresponding execution device adjusts a plane posture or outputs a signal of a signal indicator. Various modules are not systematically applied in the existing unmanned aerial vehicle in a centralized manner, resulting in a lack of systematic and intelligent interaction application scenarios. 
     BRIEF SUMMARY 
     The present disclosure provides methods and systems for controlling an unmanned aerial vehicle, and unmanned aerial vehicles that can make an execution device output intelligently by intelligently integrating a plurality of sensing assemblies of the unmanned aerial vehicle and obtaining corresponding control modes, such that customer experiences may be improved. 
     A first aspect of the present disclosure refers to an unmanned aerial vehicle control method applied to an unmanned aerial vehicle. The unmanned aerial vehicle control method may comprise: obtaining sensing information of the unmanned aerial vehicle, wherein the sensing information includes at least one of status information of the unmanned aerial vehicle or environment information of the unmanned aerial vehicle; obtaining at least one control mode; calling at least one execution device in the at least one control mode; generating a control instruction based on the at least one control mode and a sensing value of the sensing information; sending the control instruction to the at least one execution device; receiving, by the at least one execution device, the control instruction; and performing, by the at least one execution device, a corresponding action based on the control instruction. 
     A second aspect of the present disclosure refers to an unmanned aerial vehicle control system. The unmanned aerial vehicle control system may comprise: a sensing assembly to obtain sensing information of the unmanned aerial vehicle, wherein the sensing information includes at least one of status information or environment information; and a processor, configured to obtain at least one control mode, call at least one execution device based on the at least one control mode, generate a control instruction based on the at least one control mode and a sensing value of the sensing information, and send the control instruction to the at least one execution device such that the at least one execution device performs a corresponding action based on the control instruction. 
     A third aspect of the present disclosure refers to an unmanned aerial vehicle. The unmanned aerial vehicle may comprise: a fuselage; an unmanned aerial vehicle control system disposed on the fuselage; and at least one execution device disposed on the fuselage, wherein the unmanned aerial vehicle control system includes: a sensing assembly to obtain sensing information of the unmanned aerial vehicle, wherein the sensing information includes at least one of status information or environment information, and a processor, configured to obtain at least one control mode, generate a control instruction based on the at least one control mode and a sensing value of the sensing information, and call at least one execution device based on the at least one control mode, such that the at least one execution device performs a corresponding action based on the control instruction. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       To describe the technical solutions in the embodiments of the present disclosure more clearly, the following briefly describes the accompanying drawings required for describing the embodiments. Apparently, the accompanying drawings in the following description show merely some embodiments of the present disclosure, and a person of ordinary skill in the art may still derive other drawings from these accompanying drawings without creative efforts. 
         FIG. 1  is a schematic structural diagram of an unmanned aerial vehicle according to some exemplary embodiments of the present disclosure; 
         FIG. 2  is a schematic diagram of an unmanned aerial vehicle according to some exemplary embodiments of the present disclosure; 
         FIG. 3  is a schematic flowchart of an unmanned aerial vehicle control method according to some exemplary embodiments of the present disclosure; 
         FIG. 4  is a schematic structural diagram of another unmanned aerial vehicle according to some exemplary embodiments of the present disclosure; 
         FIG. 5  is a schematic flowchart of an unmanned aerial vehicle control method corresponding to the embodiment in  FIG. 4 ; 
         FIG. 6  is a schematic structural diagram of still another unmanned aerial vehicle according to some exemplary embodiments of the present disclosure; 
         FIG. 7  is a schematic flowchart of an unmanned aerial vehicle control method corresponding to the embodiment in  FIG. 6 ; 
         FIG. 8  is a schematic structural diagram of still another unmanned aerial vehicle according to some exemplary embodiments of the present disclosure; 
         FIG. 9  is a schematic structural diagram of still another unmanned aerial vehicle according to some exemplary embodiments of the present disclosure; 
         FIG. 10  is a schematic flowchart of an unmanned aerial vehicle control method corresponding to the embodiment in  FIG. 9 ; 
         FIG. 11  is a schematic structural diagram of still another unmanned aerial vehicle according to some exemplary embodiments of the present disclosure; 
         FIG. 12  is a schematic flowchart of an unmanned aerial vehicle control method corresponding to the embodiment in  FIG. 11 ; 
         FIG. 13  is a schematic structural diagram of still another unmanned aerial vehicle according to some exemplary embodiments of the present disclosure; 
         FIG. 14  is a schematic flowchart of an unmanned aerial vehicle control method corresponding to the embodiment in  FIG. 13 ; 
         FIG. 15  is a schematic flowchart of still another unmanned aerial vehicle control method according to some exemplary embodiments of the present disclosure; 
         FIG. 16  is a schematic structural diagram of still another unmanned aerial vehicle according to some exemplary embodiments of the present disclosure; 
         FIG. 17  is a schematic flowchart of an unmanned aerial vehicle control method corresponding to the embodiment in  FIG. 16 ; 
         FIG. 18  is a schematic structural diagram of still another unmanned aerial vehicle according to some exemplary embodiments of the present disclosure; 
         FIG. 19  is a schematic flowchart of an unmanned aerial vehicle control method corresponding to the embodiment in  FIG. 18 ; 
         FIG. 20  is a schematic structural diagram of still another unmanned aerial vehicle according to some exemplary embodiments of the present disclosure; 
         FIG. 21  is a schematic structural diagram of still another unmanned aerial vehicle according to some exemplary embodiments of the present disclosure; 
         FIG. 22  is a schematic flowchart of an unmanned aerial vehicle control method corresponding to the embodiment in  FIG. 21 ; 
         FIG. 23  is a schematic structural diagram of still another unmanned aerial vehicle according to some exemplary embodiments of the present disclosure; 
         FIG. 24  is a schematic flowchart of an unmanned aerial vehicle control method corresponding to the embodiment in  FIG. 23 ; 
         FIG. 25  is a schematic structural diagram of still another unmanned aerial vehicle according to some exemplary embodiments of the present disclosure; and 
         FIG. 26  is a schematic flowchart of an unmanned aerial vehicle control method corresponding to the embodiment in  FIG. 25 . 
     
    
    
     DETAILED DESCRIPTION OF THE DRAWINGS 
     The following clearly describes the technical solutions in the embodiments of the present disclosure with reference to the accompanying drawings in the embodiments of the present disclosure. The described embodiments are merely some but not all of the embodiments of the present disclosure. All other embodiments obtained by persons of ordinary skill in the art based on the embodiments of the present disclosure without creative efforts shall fall within the protection scope of the present disclosure. 
     It should be noted that, when a component is described as “fixed” to another component, the component may be directly located on another component, or an intermediate component may exist therebetween. When a component is considered as “connected” to another component, the component may be directly connected to another element, or an intermediate element may exist therebetween. 
     Unless otherwise defined, meanings of all technical and scientific terms used in this specification are the same as those generally understood by persons skilled in the art of the present disclosure. The terms used in this specification of the present disclosure herein are used only to describe specific embodiments, and not intended to limit the present disclosure. The term “and/or” used in this specification includes any or all possible combinations of one or more associated listed items. 
     The following describes in detail some implementations of the present disclosure with reference to the accompanying drawings. Under a condition that no conflict occurs, the following embodiments and features in the embodiments may be mutually combined. The following description provides specific application scenarios and requirements of the present application in order to enable those skilled in the art to make and use the present application. Various modifications to the disclosed embodiments will be apparent to those skilled in the art. The general principles defined herein may be applied to other embodiments and applications without departing from the spirit and scope of the disclosure. Therefore, the present disclosure is not limited to the embodiments shown, but the broadest scope consistent with the claims. 
     The terminology used herein is for the purpose of describing particular exemplary embodiments only and is not intended to be limiting. When used in this disclosure, the terms “comprise”, “comprising”, “include” and/or “including” refer to the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. As used in this disclosure, the term “A on B” means that A is directly adjacent to B (from above or below), and may also mean that A is indirectly adjacent to B (i.e., there is some element between A and B); the term “A in B” means that A is all in B, or it may also mean that A is partially in B. 
     In view of the following description, these and other features of the present disclosure, as well as operations and functions of related elements of the structure, and the economic efficiency of the combination and manufacture of the components, may be significantly improved. All of these form part of the present disclosure with reference to the drawings. However, it should be clearly understood that the drawings are only for the purpose of illustration and description, and are not intended to limit the scope of the present disclosure. It is also understood that the drawings are not drawn to scale. 
     In some exemplary embodiments, numbers expressing quantities or properties used to describe or define the embodiments of the present application should be understood as being modified by the terms “about”, “generally”, “approximate,” or “substantially” in some instances. For example, “about”, “generally”, “approximately” or “substantially” may mean a ±20% change in the described value unless otherwise stated. Accordingly, in some exemplary embodiments, the numerical parameters set forth in the written description and the appended claims are approximations, which may vary depending upon the desired properties sought to be obtained in a particular embodiment. In some exemplary embodiments, numerical parameters should be interpreted in accordance with the value of the parameters and by applying ordinary rounding techniques. Although a number of embodiments of the present application provide a broad range of numerical ranges and parameters that are approximations, the values in the specific examples are as accurate as possible. 
     Each of the patents, patent applications, patent application publications, and other materials, such as articles, books, instructions, publications, documents, products, etc., cited herein are hereby incorporated by reference, which are applicable to all contents used for all purposes, except for any history of prosecution documents associated therewith, or any identical prosecution document history, which may be inconsistent or conflicting with this document, or any such subject matter that may have a restrictive effect on the broadest scope of the claims associated with this document now or later. For example, if there is any inconsistent or conflicting in descriptions, definitions, and/or use of a term associated with this document and descriptions, definitions, and/or use of the term associated with any materials, the term in this document shall prevail. 
     It should be understood that the embodiments of the application disclosed herein are merely described to illustrate the principles of the embodiments of the application. Other modified embodiments are also within the scope of this application. Therefore, the embodiments disclosed herein are by way of example only and not limitations. Those skilled in the art may adopt alternative configurations to implement the technical solution in this application in accordance with the embodiments of the present application. Therefore, the embodiments of the present application are not limited to those embodiments that have been precisely described in this disclosure. 
     Exemplary embodiments are described in detail herein, and examples of the exemplary embodiments are presented in the accompanying drawings. When the following description relates to the accompanying drawings, unless otherwise specified, same numbers in different accompanying drawings represent same or similar elements. Implementations described in the following exemplary embodiments do not represent all implementations consistent with the present disclosure. On the contrary, they are only examples of apparatuses and methods that are described in detail in the appended claims and are consistent with some aspects of the present disclosure. 
     The terms used in the present disclosure are used only to describe specific embodiments, and not intended to limit the present disclosure. The terms “a”, “said”, and “the” in singular forms used in the present disclosure and the appended claims are also intended to include plural forms, unless otherwise clearly indicated in a context. It should also be understood that the term “and/or” used in this specification indicates and includes any or all possible combinations of one or more associated listed items. 
     It should be understood that the terms “first”, “second”, and the like used in this specification and the claims of this application do not indicate any sequence, quantity, or importance, but are used only for distinguishing between different components. Likewise, the terms “a/an” or “one”, and the like do not indicate a quantity limitation either, but indicate that at least one exists. Unless otherwise specified, the terms “before”, “after”, “below”, and/or “above”, and the like are used only for ease of description, and not intended to limit a location or a spatial direction. The terms “comprise” or “include”, and the like are intended to indicate that an element or an object stated before “comprise” or “include” covers an element or an object or any equivalent thereof listed after “comprise” or “include”, but does not exclude other elements or objects. The terms “connection” or “connected”, and the like are not limited to a physical or mechanical connection, but may include an electrical connection, whether direct or indirect. 
     The following describes in detail some implementations of the present disclosure with reference to the accompanying drawings. Under a condition that no conflict occurs, the following embodiments and features in the embodiments may be mutually combined. 
     Embodiments of the present disclosure provide an unmanned aerial vehicle control method and system, and an unmanned aerial vehicle. It may be understood that the unmanned aerial vehicle in the present disclosure may be configured to move in any appropriate environment, for example, in the air (for example, an aircraft with fixed wings, an aircraft with rotors, or an aircraft without fixed wings and rotors), in water (for example, a ship or a submarine), on land (for example, a motor vehicle, for example, a car, a truck, a bus, a van, a motorcycle, a bike, or a train), underground (for example, a metro), in space (for example, a space shuttle, a satellite, or a probe), or any combination thereof. The embodiments of the present disclosure are described in detail with reference to accompanying drawings by using an unmanned aerial vehicle as an example. 
       FIG. 1  is a schematic structural diagram of an unmanned aerial vehicle  1000  according to some exemplary embodiments of the present disclosure.  FIG. 2  is a schematic diagram of the unmanned aerial vehicle  1000 . In some exemplary embodiments, referring to  FIG. 1  and  FIG. 2 , the unmanned aerial vehicle  1000  may include an unmanned aerial vehicle control system  100 , a fuselage  200 , and at least one execution device  300 , where the unmanned aerial vehicle control system  100  may include a sensing assembly  10  and a processor  20 . Further, the unmanned aerial vehicle control system  100  and the execution device  300  may be disposed in the fuselage  200  of the unmanned aerial vehicle  1000 . For example, in some exemplary embodiments, the fuselage  200  may include a frame and an arm assembly. The unmanned aerial vehicle control system  100  may be disposed on the frame partially or completely. For example, the sensing assembly  10  in the unmanned aerial vehicle control system  100  may be located on the arm assembly, and the processor  20  in the unmanned aerial vehicle control system  100  may be located on the frame. For another example, both the sensing assembly  10  and the processor  20  in the unmanned aerial vehicle control system  100  may be located on the frame. Likewise, the at least one execution device  300  may be disposed on the frame partially or completely, or may be all located on the frame. This is not limited herein. 
     In some exemplary embodiments, the unmanned aerial vehicle control system  100  may further include a main memory (e.g., read-only memory (ROM), flash memory, dynamic random access memory (DRAM) such as synchronous DRAM (SDRAM)), a static memory (e.g., flash memory, sialic random access memory (SRAM)), and a data storage device, which communicates with each other via a bus. The processor  20  may represent one or more general-purpose processing devices such as a microprocessor, central processing unit, or the like. The processor  20  may be a complex instruction set computing (CISC) microprocessor, reduced instruction set computing (RISC) microprocessor, very long instruction word (VLIVV) microprocessor, or a processor implementing other instruction sets or processors implementing a combination of instruction sets. The processor  20  may also be one or more special-purpose processing devices such as an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA), a digital signal processor (DSP), network processor, or the like. The processor  20  may be configured to execute instructions for performing the operations and steps discussed herein. 
     Further,  FIG. 3  is a flowchart of an unmanned aerial vehicle control method provided in some exemplary embodiments of the present disclosure. The unmanned aerial vehicle control system  100  may be configured to perform the unmanned aerial vehicle control method shown in  FIG. 3 . For example, the unmanned aerial vehicle control method provided in some exemplary embodiments of the present disclosure may be applied to the unmanned aerial vehicle control system  100 , so that the unmanned aerial vehicle  1000  may implement the unmanned aerial vehicle control method shown in  FIG. 3 . It may be understood that the unmanned aerial vehicle control method may also be applied to other appropriate unmanned aerial vehicles. In some exemplary embodiments, the unmanned aerial vehicle  1000  may be used as an example for description and is not limited herein. 
     In some exemplary embodiments, the unmanned aerial vehicle control method may include the following steps. 
     S 201 . Obtaining at least one type of sensing information. 
     In some exemplary embodiments of the present disclosure, an unmanned aerial vehicle  1000  may obtain the at least one type of sensing information by using a sensing assembly  10 . Further, the at least one type of sensing information may include status information and/or environment information of the unmanned aerial vehicle  1000 . In some exemplary embodiments, the sensing assembly  10  may include at least one sensing assembly  10 , a first preset priority setting may be preset for the at least one sensing assembly  10 , and the sensing assembly  10  may obtain the at least one type of sensing information based on the first preset priority setting. 
     Further, in some exemplary embodiments, the sensing assembly  10  may include a sensing apparatus. For example, a sensing apparatus may be disposed in the unmanned aerial vehicle  1000 , and the sensing apparatus may be configured to obtain the at least one type of sensing information. For example, in some exemplary embodiments, the status information of the unmanned aerial vehicle  1000  may include at least one of current location information, orientation information, time, acceleration, a speed, a posture, a relative height, a relative distance, power information, and operation resource information; and correspondingly, a sensing apparatus for measuring the status information of the unmanned aerial vehicle  1000  may include at least one of a satellite positioning apparatus, an inertial measurement sensor, a clock, a magnetic field sensor, a pressure sensor, a height sensor, a proximity sensor, a power detection apparatus, and a resource monitor. The environment information of the unmanned aerial vehicle  1000  may include at least one of luminance information, ground texture information, depth information, temperature information, interaction information, wind speed information, air pressure information, and noise information; and correspondingly, a sensing apparatus for measuring the environment information of the unmanned aerial vehicle  1000  may include at least one of a light intensity sensor, an optoelectronic sensor, an infrared sensor, a vision sensor, a temperature sensor, an anemometer, a barometer, and a sound pressure level sensor. It may be understood that the sensing apparatus may be located in any appropriate position of a fuselage  200  of the unmanned aerial vehicle  1000 , for example, on a frame, in a frame, on an arm assembly, in an arm assembly, or other appropriate positions. This is not limited herein. 
     Further, in some exemplary embodiments, the unmanned aerial vehicle  1000  may further include a communication apparatus. The unmanned aerial vehicle  1000  may be communicatively connected to an external device by using the communication apparatus, and may be configured to obtain sensing data by using the external device. Referring to  FIG. 2 , in some exemplary embodiments, the external device may be a control end  400 . For example, the unmanned aerial vehicle  1000  may include the control end  400 , and the unmanned aerial vehicle  1000  may be connected to the control end  400  by using the communication apparatus. Further, the communication apparatus disposed in the unmanned aerial vehicle  1000  may be configured to obtain at least one type of sensing information input by the control end  400 . For example, in some exemplary embodiments, the sensing information may be input by a user from the control end  400 . For example, the user may input the status information of the unmanned aerial vehicle  1000  such as the location information, orientation information, and time from the control end  400 , or input the environment information such as the luminance information, temperature information, and interaction information from the control end  400 . For example, the control end may be a mobile device and/or a remote control apparatus. Further, the communication apparatus may be connected to the control end  400  in a wireless mode. This is not limited herein. 
     In some exemplary embodiments, the external device may be a predefined website. For example, the unmanned aerial vehicle  1000  may be connected to the predefined website by using the communication apparatus. In this case, the at least one type of sensing information may be obtained by using the predefined website. For example, the communication apparatus may be connected to the predefined website in a wireless mode. For example, the predefined website may be a meteorological website or an unmanned aerial vehicle air control website, and the unmanned aerial vehicle  1000  may obtain sensing information from the meteorological website or the unmanned aerial vehicle air control website. In some exemplary embodiments, the communication apparatus may be connected to the predefined website in another communication mode, for example, communicatively connected by using a satellite. The predefined website may also include other sensing information that is appropriate for the unmanned aerial vehicle  1000  to obtain. This is not limited herein. 
     Further, after obtaining the at least one type of sensing information, the sensing assembly  10  may send the sensing information to a processor  20  of an unmanned aerial vehicle control system  100 , that is, the processor  20  may obtain the at least one type of sensing information. 
     S 203 . Obtaining at least one control mode. 
     In some exemplary embodiments, the processor  20  of the unmanned aerial vehicle control system  100  may be further configured to obtain the at least one control mode. Further, the at least one control mode may be obtained based on the sensing information obtained in step S 201 , or may be obtained based on an external instruction. Further, the external instruction may be input by the user, that is, the at least one control mode may be obtained based on the external instruction input by the user. It may be understood that In some exemplary embodiments, the at least one control mode may be further obtained based on a combination of the obtained sensing information and the external instruction input by the user. This is not limited herein. 
     Further, the at least one control mode may be obtained based on a second preset priority setting. After at least two control modes are obtained, a selection may be made between the at least two control modes based on the second preset priority setting. For example, in some exemplary embodiments, the processor  20  may obtain the at least one control mode based on the sensing information. Further, when the processor  20  obtains at least two control modes based on the sensing information, the processor  20  may make an autonomous selection between the at least two control modes based on the second preset priority setting and may implement an intelligent selection and control on the control mode without requiring an externally input instruction. This may improve user experience. 
     In some exemplary embodiments, after obtaining the at least two control modes based on the sensing information, the processor  20  may also make a selection between the at least two control modes based on an external instruction. Further, the external instruction may be input by the user by using the control end  400  such as a mobile device and/or a remote controller. In some exemplary embodiments, the control mode may be further determined based on a combination of the obtained control mode and the external instruction input by the user. In this way, the control mode of the unmanned aerial vehicle  1000  may be obtained in a flexible variable configuration mode. This may implement safe intelligent control, and improve user experience. 
     In some exemplary embodiments, for example, in some exemplary embodiments, the status information of the unmanned aerial vehicle  1000  may include at least the location information, posture information, remaining power information, and operation resource information, the environment information may include at least the luminance information, temperature information, and interaction information, and the control mode may include at least a fill light mode, an obstacle avoidance mode, an alarm mode, an interaction mode, a safety protection mode, and a safe running mode. Further, the processor  20  of the unmanned aerial vehicle control system  100  may make a selection among the fill light mode, the obstacle avoidance mode, the alarm mode, the interaction mode, the safety protection mode, and the safe running mode based on the second preset priority setting. In some exemplary embodiments, the processor  20  of the unmanned aerial vehicle control system  100  may make a selection among the fill light mode, the obstacle avoidance mode, the alarm mode, the interaction mode, the safety protection mode, and the safe running mode based on an external instruction. Further, the external instruction may be input by the user by using the control end  400  such as a mobile device and/or a remote controller. 
     It may be understood that the foregoing embodiment is only an example for description. The status information and the environment information of the unmanned aerial vehicle  1000  may include other information in addition to the foregoing information, for example, other sensing information related to the unmanned aerial vehicle  1000  such as time information and noise information, and the corresponding control modes may further include other control modes in addition to the foregoing modes. This is not limited herein. 
     Further, in some exemplary embodiments, after the processor  20  of the unmanned aerial vehicle control system  100  obtains the at least one control mode, a prompt instruction may be generated. As described above, the unmanned aerial vehicle  1000  may include the control end  400 . For example, the control end  400  may be a mobile device and/or a remote controller. Further, a display screen  401  may be disposed at the control end, and the prompt instruction is displayed on the display screen  401 . In some exemplary embodiments, the prompt instruction is used to display a selected control mode, and the control mode may be autonomously selected by the processor  20 , or may be selected based on an external instruction. This is not limited herein. 
     Further, after at least two control modes are obtained, a prompt instruction may be generated and displayed on the display screen  401 , to prompt the user that a selection may be made between the at least two control modes. For example, when two or more control modes conflict, a prompt instruction may be generated and displayed on the display screen  401 , to prompt the user to make a selection between the two or more control modes that conflict. In some exemplary embodiments, when the two or more control modes do not conflict, only a prompt instruction may be generated and displayed on the display screen  401 . This is not limited herein. 
     S 205 . Calling and/or invoking at least one execution device  300  in the at least one control mode. 
     In some exemplary embodiments, after obtaining the at least one control mode, the processor  20  of the unmanned aerial vehicle control system  100  may call and/or invoke the at least one execution device  300  in the at least one control mode. 
     Further, the execution device  300  of the unmanned aerial vehicle  1000  may include at least one of an indication apparatus, a fill light apparatus, an illuminating apparatus, a photographing apparatus, a power apparatus, a gimbal posture adjustment apparatus, a projection apparatus, a display apparatus, a signal transfer apparatus, and a power supply apparatus. It may be understood that the execution device  300  of the unmanned aerial vehicle  1000  may further include another appropriate execution device in addition to the foregoing execution device, for example, an execution device such as a spraying apparatus or a surveying and mapping apparatus. This is not limited herein. In subsequent embodiments, the embodiments of the present disclosure will be further described with reference to several specific execution devices  300 . It may be understood that the embodiments of the present disclosure are all exemplary examples and are not limited herein. 
     S 207 . Generating a control instruction based on the at least one control mode and a sensing value of the at least one type of sensing information, and sending the control instruction to the at least one execution device  300 . 
     In some exemplary embodiments, the processor  20  of the unmanned aerial vehicle control system  100  of the unmanned aerial vehicle  1000  may generate the control instruction based on the at least one control mode and the sensing value of the at least one type of sensing information, and may send the control instruction to the at least one execution device  300 . 
     S 209 . The at least one execution device  300  receiving the control instruction, and performing a corresponding action based on the control instruction. 
     In some exemplary embodiments, a third preset priority setting may be preset for the at least one execution device  300 . For example, the at least one execution device  300  may receive the control instruction based on the third preset priority setting, and perform the corresponding action based on the control instruction. In other exemplary embodiments, alternatively, the at least one execution device  300  may first receive the control instruction, and then perform the corresponding action based on the third preset priority setting and the control instruction. This is not limited herein. 
     The following further describes the embodiments of the present disclosure with reference to an exemplary sensing assembly  10  and an exemplary execution device  300 . It may be understood that, under a condition that no conflict occurs, the following embodiments and features in the embodiments may be mutually combined. 
     Referring to  FIG. 4 , in some exemplary embodiments, a sensing assembly  10  of an unmanned aerial vehicle  1000  may be an infrared sensor  101  configured to detect temperature information in environment information of the unmanned aerial vehicle  1000 , and an execution device  300  may be an indication apparatus  301 . In some exemplary embodiments, referring to  FIG. 5 , an unmanned aerial vehicle control method in some exemplary embodiments of the present disclosure may include the following steps. 
     S 2011 . Obtaining temperature information in environment information of an unmanned aerial vehicle  1000 . 
     In some exemplary embodiments, a sensing assembly  10  may be an infrared sensor  101 , and the infrared sensor  101  may be configured to detect the temperature information in the environment information of the unmanned aerial vehicle  1000 . It may be understood that these embodiments are only examples for description. In some exemplary embodiments, the temperature information in the environment information of the unmanned aerial vehicle  1000  may also be obtained by using another appropriate temperature sensing apparatus. This is not limited herein. 
     S 2031 . Obtaining an alarm mode. 
     Further, the unmanned aerial vehicle  1000  may obtain the alarm mode. In some exemplary embodiments, the unmanned aerial vehicle  1000  may automatically obtain the alarm mode based on the temperature information. For example, when a heat sensing value obtained by the infrared sensor  101  is greater than a preset heat threshold, the heat sensing value may be sent to the sensing assembly  10  of an unmanned aerial vehicle control system  100 . The sensing assembly  10  may send the heat sensing value to a processor  20 , and the processor  20  may obtain the alarm mode. In some exemplary embodiments, the unmanned aerial vehicle  1000  may also obtain the alarm mode based on an external instruction input by a user. For example, the user may directly input a heat sensing value greater than the preset heat threshold to obtain the alarm mode, or may directly obtain the alarm mode by inputting. This is not limited herein. 
     S 2051 . Calling and/or invoking an indication apparatus  301  in the alarm mode. 
     After obtaining the alarm mode, the unmanned aerial vehicle  1000  may call and/or invoke the indication apparatus  301  in an execution device  300  in the alarm mode. Further, in some exemplary embodiments, the indication apparatus  301  may include at least one of a laser generation apparatus, an indicator, and an alarm device. It may be understood that the indication apparatus  301  may further include another appropriate apparatus for indicating an alarm. This is not limited herein. 
     S 2071 . Generating an alarm instruction based on the alarm mode and a parameter value of the temperature information, and sending the alarm instruction to the indication apparatus  301 . 
     In some exemplary embodiments, in some exemplary embodiments, when the heat sensing value obtained by the infrared sensor  101  is greater than the preset heat threshold, the heat sensing value may be sent to the processor  20  of the unmanned aerial vehicle control system  100 , and the processor  20  may calculate a difference between the heat sensing value and the preset heat threshold, and determine whether the heat sensing value is abnormal. For example, the user may predefine a heat sensing value in a normal range and a heat sensing value when a fire breaks out. When the heat sensing value obtained by the infrared sensor  101  exceeds the heat sensing value in the normal range, it may be determined that the heat sensing value is abnormal. 
     In some exemplary embodiments, the user may further predefine a heat sensing value of the sun that is obtained by the infrared sensor of the unmanned aerial vehicle  1000 , to avoid sending an incorrect determining instruction after the infrared sensor obtains the heat sensing value of the sun. 
     Further, when determining that the heat sensing value is abnormal, the processor  20  may generate an alarm instruction and send the alarm instruction to the indication apparatus  301  in the execution device  300 . 
     S 2091 . The indication apparatus  301  receiving the alarm instruction, and performing a corresponding action based on the alarm instruction to raise an alarm. 
     In some exemplary embodiments, in some exemplary embodiments, when the indication apparatus  301  is an indicator and an alarm device, the unmanned aerial vehicle  1000  may turn on the indicator and the alarm device, where the indicator may flash and the alarm device may raise an alarm, to warn that the heat sensing value is abnormal. 
     In some exemplary embodiments, when the indication apparatus  301  is a laser generation apparatus, an indicator, and an alarm device, the unmanned aerial vehicle  1000  may first determine information about a position whose heat sensing value is abnormal, for example, determine, based on a relative distance or a relative height between the unmanned aerial vehicle  1000  and the position whose heat sensing value is abnormal, the information about the position whose heat sensing value is abnormal, and may send the information about the position to the processor  20 . The processor  20  may generate a laser generation instruction and send the laser generation instruction to the laser generation apparatus, to adjust a beam direction emitted by the laser generation apparatus to point to the position whose heat sensing value is abnormal, and may turn on the indicator and the alarm device, where the indicator flashes and the alarm device raises an alarm, to warn that the heat sensing value in the position is abnormal. In this way, the unmanned aerial vehicle  1000  can automatically enter the alarm mode based on the temperature information in the environment information, for example, implement an intelligent alarm when the heat sensing value is abnormal, to find a fire point in time in field monitoring and raise an alarm. 
     It may be understood that In some exemplary embodiments, the unmanned aerial vehicle  1000  may further distinguish a heat sensing value range of a human body within a normal range, so that the unmanned aerial vehicle  1000  is applied to a scenario such as policing, field search and rescue, or rescue. This is not limited herein. 
     In the foregoing embodiment, the laser generation apparatus, the indicator, and the alarm device in the indication apparatus  301  in the execution device  300  may perform a corresponding action based on the third preset priority setting. For example, in some exemplary embodiments, the third preset priority setting may be set as “laser generation apparatus &gt;indicator &gt;alarm device”, or may be set as “indicator &gt;alarm device &gt;laser generation apparatus”, or a same priority may be set for the alarm device and the indicator, that is, the alarm device and the indicator respond simultaneously. It may be understood that these embodiments are only examples for description, and is not limited herein. 
     Further, in some exemplary embodiments, the unmanned aerial vehicle  1000  may further include a control end  400 , and a display screen  401  may be disposed at the control end  400 . In some exemplary embodiments, after the alarm mode is obtained, a prompt instruction may be generated on the display screen  401 , to prompt the user that the unmanned aerial vehicle  1000  enters the alarm mode. In some exemplary embodiments, the unmanned aerial vehicle  1000  may display a sensed infrared image on the display screen  401  in real time, to facilitate operations such as observation. This is not limited herein in some exemplary embodiments. 
     Referring to  FIG. 6 , in some exemplary embodiments, a sensing assembly  10  of an unmanned aerial vehicle  1000  is a light intensity sensor  102 , where the light intensity sensor  102  may be configured to obtain luminance information in environment information of the unmanned aerial vehicle  1000 , and an execution device  300  of the unmanned aerial vehicle  1000  may be a fill light apparatus  302 . In some exemplary embodiments, referring to  FIG. 7 , an unmanned aerial vehicle control method in some exemplary embodiments of the present disclosure may include the following steps. 
     S 2012 . Obtaining luminance information in environment information of an unmanned aerial vehicle  1000 . 
     In some exemplary embodiments, a sensing assembly  10  may be a light intensity sensor  102 , and the light intensity sensor may be configured to obtain the luminance information in the environment information of the unmanned aerial vehicle  1000 . It may be understood that these embodiments are only examples for description. In some exemplary embodiments, the luminance information in the environment information of the unmanned aerial vehicle  1000  may also be obtained by using another appropriate light intensity sensing apparatus. This is not limited herein. 
     S 2032 . Obtaining a fill light mode. 
     Further, the unmanned aerial vehicle  1000  may obtain the fill light mode. In some exemplary embodiments, the unmanned aerial vehicle  1000  may automatically obtain the fill light mode based on the luminance information, for example, when a light intensity sensing value obtained by the light intensity sensor  102  is less than a preset light intensity threshold, send the light intensity sensing value to the sensing assembly  10  of an unmanned aerial vehicle control system  100 . The sensing assembly  10  may send the light intensity sensing value to a processor  20 , and the processor  20  may obtain the fill light mode. In some exemplary embodiments, the unmanned aerial vehicle  1000  may also obtain the fill light mode based on an external instruction input by a user. For example, the user may directly input a light intensity sensing value less than the preset light intensity threshold to enter the fill light mode, or may directly obtain the fill light mode. This is not limited herein. 
     S 2052 . Calling and/or invoking a fill light apparatus  302  in the fill light mode. 
     After obtaining the fill light mode, the unmanned aerial vehicle  1000  may call and/or invoke the fill light apparatus  302  in an execution device  300  in the fill light mode. In some exemplary embodiments, the fill light apparatus may be a visible light compensation apparatus, or may be an invisible light compensation apparatus, for example, an infrared light compensation apparatus. This is not limited herein. 
     S 2072 . Generating a fill light instruction based on the fill light mode and a parameter value of the luminance information, and sending the fill light instruction to the fill light apparatus  302 . 
     In some exemplary embodiments, in some exemplary embodiments, when the light intensity sensing value obtained by the light intensity sensor  102  is less than the preset light intensity threshold, the light intensity sensing value may be sent to the processor  20  of the unmanned aerial vehicle control system  100 . The processor  20  may calculate a difference between the light intensity sensing value and the preset light intensity threshold, may obtain a light intensity compensation value through calculation based on the difference between the light intensity sensing value and the preset light intensity threshold, and generate a fill light instruction based on the light intensity compensation value. The fill light instruction may be sent to the fill light apparatus  302  in the execution device  300 . In some exemplary embodiments, the fill light apparatus  302  may be, for example, a fill light lamp. 
     S 2092 . The fill light apparatus  302  receiving the fill light instruction, and performing a corresponding action based on the fill light instruction to provide fill light. 
     In some exemplary embodiments, in some exemplary embodiments, after receiving the fill light instruction, the fill light apparatus  302  performs the corresponding action based on the fill light instruction, that is, the fill light apparatus  302  emits expected light to adjust light intensity and compensate for the light intensity compensation value. In this way, the unmanned aerial vehicle  1000  may intelligently provide fill light in the fill light mode, for example, provide fill light in an environment with low light intensity. 
     It may be understood that in some exemplary embodiments, the unmanned aerial vehicle  1000  may also obtain the luminance information in the environment information in a photographing mode, that is, automatically obtain the fill light mode in the photographing mode, to achieve a better imaging effect in an application scenario of photographing or video recording. For example, the unmanned aerial vehicle  1000  may determine, based on automatic exposure time or an automatic exposure gain of an imaging system of a photographing apparatus, whether it is necessary to enter the fill light mode, and may obtain a light intensity compensation value through calculation based on the automatic exposure time and the automatic exposure gain. In some exemplary embodiments, when the automatic exposure time becomes longer and the automatic exposure gain increases, it is determined that the fill light mode needs to be obtained, and a light intensity compensation value may be obtained through calculation based on the automatic exposure time and the automatic exposure gain. Further, automatic exposure time and an automatic exposure gain during next photographing are obtained, until the compensated light intensity reaches an appropriate value. It may be understood that these embodiments are only examples for description, and is not limited herein. 
     Referring to  FIG. 8 , In some exemplary embodiments, the execution device  300  of the unmanned aerial vehicle  1000  may further include a fill light apparatus  302  and an illuminating apparatus  303 . Correspondingly, the unmanned aerial vehicle  1000  may automatically obtain the fill light mode and/or an illuminating mode based on the luminance information. Further, the unmanned aerial vehicle  1000  may call and/or invoke the illuminating apparatus  303  in the execution device  300  in the illuminating mode. 
     In some exemplary embodiments, the unmanned aerial vehicle  1000  may obtain a control mode based on a second preset priority setting. For example, after obtaining the luminance information, the unmanned aerial vehicle  1000  may determine, based on the second preset priority setting, a sequence of obtaining control modes. For example, in some exemplary embodiments, the second preset priority setting of the unmanned aerial vehicle  1000  may be set as “fill light mode&gt;illuminating mode”. For example, when the light intensity sensing value obtained by the unmanned aerial vehicle  1000  is less than the preset light intensity threshold, the unmanned aerial vehicle  1000  may first enter the fill light mode, and then determine whether it is necessary to enter the illuminating mode. In some exemplary embodiments, the second preset priority setting of the unmanned aerial vehicle  1000  may also be set as “illuminating mode&gt;fill light mode”. In this case, when the light intensity sensing value obtained by the unmanned aerial vehicle  1000  is less than the preset light intensity threshold, the unmanned aerial vehicle  1000  may first enter the illuminating mode, and then determine whether it is necessary to enter the fill light mode. This is not limited herein. 
     It may be understood that the fill light apparatus  302  and the illuminating apparatus  303  may be a same apparatus, or may be different apparatuses. For example, when the fill light apparatus  302  is a visible light compensation apparatus, the illuminating apparatus  303  and the fill light apparatus  302  may be a same visible light compensation apparatus. In some exemplary embodiments, the illuminating apparatus  303  and the fill light apparatus  302  may also be disposed as different apparatuses. This is not limited herein. 
     Further, in some exemplary embodiments, the unmanned aerial vehicle  1000  may further include a control end  400 , and a display screen  401  may be disposed at the control end  400 . In some exemplary embodiments, after the fill light mode and/or the illuminating mode are/is obtained, a prompt instruction may be generated on the display screen  401 , to prompt the user that the unmanned aerial vehicle  1000  enters the fill light mode and/or the illuminating mode. Further, when two or more control modes conflict, a prompt instruction may be generated and displayed on the display screen  401  to prompt the user. For example, when the fill light mode and the illuminating mode conflict, the unmanned aerial vehicle  1000  may generate a prompt instruction, to prompt the user to select an appropriate control mode by inputting an instruction. 
     In some exemplary embodiments, the display screen  401  may further display the light intensity sensing value, the light intensity compensation value, or the like, to facilitate observation, operations, or the like by the user, and improve user experience. 
     Referring to  FIG. 9 , in some exemplary embodiments, a sensing assembly  10  of an unmanned aerial vehicle  1000  is a light intensity sensor  102  and a satellite positioning apparatus  103 , where the light intensity sensor  102  may be configured to obtain luminance information in environment information of the unmanned aerial vehicle  1000 , and the satellite positioning apparatus  103  may be configured to obtain location information of the unmanned aerial vehicle  1000 . Further, an execution device  300  of the unmanned aerial vehicle  1000  is an indication apparatus  301 . In some exemplary embodiments, referring to  FIG. 10 , an unmanned aerial vehicle control method in some exemplary embodiments of the present disclosure may include the following steps. 
     S 2013 . Obtaining luminance information in environment information of an unmanned aerial vehicle  1000  and location information of the unmanned aerial vehicle  1000 . 
     In some exemplary embodiments, a sensing assembly  10  is a light intensity sensor  102  and a satellite positioning apparatus  103 , where the light intensity sensor  102  may be configured to obtain the luminance information in the environment information of the unmanned aerial vehicle  1000 , and the satellite positioning apparatus  103  may be configured to obtain the location information of the unmanned aerial vehicle  1000 . It may be understood that these embodiments are only examples for description. In some exemplary embodiments, the location information of the unmanned aerial vehicle  1000  or the luminance information in the environment information may also be obtained by using another appropriate sensing apparatus. This is not limited herein. 
     S 2033 . Obtaining an alarm mode. 
     Further, the unmanned aerial vehicle  1000  may obtain the alarm mode. For example, in some exemplary embodiments, the unmanned aerial vehicle  1000  may automatically obtain the alarm mode based on the luminance information and the location information. In some exemplary embodiments, the unmanned aerial vehicle  1000  may obtain the alarm mode based on an external instruction input by a user. For example, the user may obtain the alarm mode by inputting light intensity information less than a preset luminance threshold and distance information greater than a preset distance threshold, or may directly obtain the alarm mode. This is not limited herein. 
     S 2053 . Calling and/or invoking an indication apparatus  301  in the alarm mode. 
     After obtaining the alarm mode, the unmanned aerial vehicle  1000  may call and/or invoke the indication apparatus  301  in an execution device  300  in the alarm mode. Further, in some exemplary embodiments, the indication apparatus  301  may include at least one of an indicator and an alarm device. This is not limited herein. 
     S 2073 . Generating an alarm instruction based on the alarm mode, and parameter values of the luminance information and the location information, and sending the alarm instruction to the indication apparatus  301 . 
     In some exemplary embodiments, in some exemplary embodiments, when a light intensity sensing value obtained by the light intensity sensor  102  is less than a preset threshold, the light intensity sensing value may be sent to a processor  20  of an unmanned aerial vehicle control system  100 . The processor  20  may calculate a difference between the light intensity sensing value and the preset light intensity threshold, and determine, based on the difference between the light intensity sensing value and the preset light intensity threshold, whether it is in a situation with weak light. 
     Further, when the unmanned aerial vehicle  1000  is in the situation with weak light, the satellite positioning apparatus  103  in the sensing assembly  10  may obtain the location information of the unmanned aerial vehicle  1000  by sensing, and may send the location information to the processor  20  of the unmanned aerial vehicle control system  100 . The processor  20  may calculate a distance between a location of the unmanned aerial vehicle  1000  and an operator based on the location information. When the distance is greater than the preset distance threshold, the processor  20  may control the unmanned aerial vehicle  1000  to enter the alarm mode, and generate an alarm instruction based on the luminance information and the location information. The alarm instruction may be sent to the indication apparatus in the execution device  300 . 
     S 2093 . The indication apparatus  301  receiving the alarm instruction, and performing a corresponding action based on the alarm instruction to raise an alarm. 
     In some exemplary embodiments, in some exemplary embodiments, after receiving the alarm instruction, the indication apparatus  301  may turn on the indicator and the alarm device based on the alarm instruction, where the indicator may flash and the alarm device may raise an alarm, to warn that the unmanned aerial vehicle  1000  is in a position beyond a line of sight under weak light. In this way, the unmanned aerial vehicle  1000  may automatically enter the alarm mode based on the luminance information in the environment information and the location information. For example, when the unmanned aerial vehicle  1000  is beyond the line of sight at night, the indicator may flash at a preset frequency, and the alarm device may raise an alarm, to facilitate discovery of the unmanned aerial vehicle  1000 . 
     Further, in some exemplary embodiments, the unmanned aerial vehicle  1000  may further include a control end  400 , and a display screen  401  may be disposed at the control end  400 . In some exemplary embodiments, after the alarm mode is obtained, a prompt instruction may be generated on the display screen  401 , to prompt the user that the unmanned aerial vehicle  1000  is beyond the line of sight under weak light. Further, the display screen  401  may further display real-time location information of the unmanned aerial vehicle  1000 . This is not limited herein. 
     Referring to  FIG. 11 , in some exemplary embodiments, a sensing assembly  10  of an unmanned aerial vehicle  1000  is a light intensity sensor  102  and a vision sensor  104 , where the light intensity sensor  102  may be configured to obtain luminance information in environment information of the unmanned aerial vehicle  1000 , and the vision sensor may be mounted below the unmanned aerial vehicle  1000 , and configured to sense ground texture information. Further, an execution device  300  of the unmanned aerial vehicle  1000  may be a power apparatus  304 . In some exemplary embodiments, referring to  FIG. 12 , an unmanned aerial vehicle control method in some exemplary embodiments of the present disclosure may include the following steps. 
     S 2014 . Obtaining luminance information and ground texture information in environment information of an unmanned aerial vehicle  1000 . 
     In some exemplary embodiments, a sensing assembly  10  may be a light intensity sensor  102  and a vision sensor  104 , where the light intensity sensor  102  may be configured to sense the luminance information in the environment information of the unmanned aerial vehicle  1000 , and the vision sensor  104  may be mounted below the unmanned aerial vehicle  1000 , and configured to sense the ground texture information. Further, the vision sensor  104  may be, for example, a visible light sensor or an infrared sensor, and the corresponding texture information may be, for example, visible light or infrared texture information. 
     It may be understood that these embodiments are only examples for description. In some exemplary embodiments, the luminance information and the ground texture information in the environment information of the unmanned aerial vehicle  1000  may also be obtained by using another appropriate sensing apparatus. This is not limited herein. 
     S 2034 . Obtaining a precise positioning mode. 
     Further, the unmanned aerial vehicle  1000  may obtain the precise positioning mode. For example, in some exemplary embodiments, the unmanned aerial vehicle  1000  may automatically obtain the precise positioning mode based on the luminance information and the texture information. In some exemplary embodiments, the unmanned aerial vehicle  1000  may obtain the precise positioning mode based on an external instruction input by a user. For example, the user may obtain the precise positioning mode by inputting a light intensity sensing value less than a preset light intensity threshold, or may directly obtain the precise positioning mode by inputting. This is not limited herein. 
     S 2054 . Calling and/or invoking a power apparatus  304  in the precise positioning mode. 
     After obtaining the precise positioning mode, the unmanned aerial vehicle  1000  may call and/or invoke the power apparatus  304  in an execution device  300  in the precise positioning mode. For example, in some exemplary embodiments, the power apparatus  304  may include a motor assembly and a propeller assembly that are disposed on an arm assembly, where a posture or an azimuth of the unmanned aerial vehicle  1000  may be adjusted by using the motor assembly and the propeller assembly that are disposed on the arm assembly, to achieve expected moving of the unmanned aerial vehicle  1000 . For example, when the unmanned aerial vehicle  1000  is a four-rotor aircraft, the arm assembly of the unmanned aerial vehicle  1000  may include four arms, and the corresponding power apparatus  304  may include four motor assemblies and four propeller assemblies, which are respectively disposed on the arms. Further, the posture or the azimuth of the unmanned aerial vehicle  1000  may be adjusted by using the motor assembly and the propeller assembly that are disposed on the arm assembly, to achieve expected moving of the unmanned aerial vehicle  1000 . In some exemplary embodiments, the unmanned aerial vehicle  1000  may also include another appropriate power apparatus  304 . This is not limited herein. 
     S 2074 . Generating a posture adjustment instruction based on the precise positioning mode and parameter values of the luminance information and the ground texture information, and sending the posture adjustment instruction to the power apparatus  304 . 
     In some exemplary embodiments, in some exemplary embodiments, when a light intensity sensing value obtained by the light intensity sensor  102  is less than the preset light intensity threshold, the light intensity sensing value may be sent to a processor  20  of an unmanned aerial vehicle control system  100 . The processor  20  may calculate a difference between the light intensity sensing value and the preset light intensity threshold, and determine, based on the difference between the light intensity sensing value and the preset light intensity threshold, whether it is in a situation with weak light. 
     Further, when the unmanned aerial vehicle  1000  is in the situation with weak light, the vision sensor  104  in the sensing assembly  10  may obtain the ground texture information by sensing, and may send the ground texture information to the processor  20  of the unmanned aerial vehicle control system  100 . In the precise positioning mode, the processor  20  may generate a motion instruction after performing image processing based on the ground texture information, and send the motion instruction to the power apparatus  304  in the execution device  300 . 
     S 2094 . The power apparatus  304  receiving the posture adjustment instruction, and performing a corresponding action based on the posture adjustment instruction to implement precise positioning. 
     In some exemplary embodiments, in some exemplary embodiments, after receiving the motion instruction, the power apparatus  304  performs the corresponding action based on the motion instruction. For example, the power apparatus  304  may be controlled to make motion compensation, to implement precise positioning under weak light. For example, the motion instruction may be a small-range motion instruction, and the power apparatus  304  makes small-range motion compensation under control of the small-range motion instruction. In this way, the unmanned aerial vehicle  1000  can implement precise positioning in a situation with weak light, for example, at night. 
     Further, in some exemplary embodiments, the unmanned aerial vehicle  1000  may obtain at least one type of sensing information based on a first preset priority setting. For example, when the sensing assembly  10  includes the plurality of sensing apparatuses listed in previous embodiments, the sensing assembly  10  may first obtain the luminance information based on the first preset priority setting, then obtain positioning information of the unmanned aerial vehicle  1000 , and finally obtain the ground texture information. In some exemplary embodiments, the unmanned aerial vehicle  1000  may obtain a fill light mode and/or an illuminating mode based on the luminance information that is first obtained; then obtain an alarm mode with reference to the obtained luminance information and positioning information; and finally obtain the precise positioning mode with reference to the obtained luminance information and ground texture information. In other words, in some exemplary embodiments, the unmanned aerial vehicle  1000  may obtain, based on the first preset priority setting for obtaining sensing information, a control mode corresponding to the sensing information. 
     In some exemplary embodiments, the unmanned aerial vehicle  1000  may obtain a control mode based on a second preset priority setting. For example, after obtaining the sensing information, the unmanned aerial vehicle  1000  may determine, based on the second preset priority setting, a sequence of obtaining control modes. In some exemplary embodiments, still with respect to the sensing assembly  10  including the plurality of sensing apparatuses listed in previous embodiments, after obtaining the luminance information, the positioning information, and the ground texture information, the unmanned aerial vehicle  1000  may obtain at least one of the control modes based on the second preset priority setting. For example, when the processor  20  of the unmanned aerial vehicle control system  100  determines that the environment information of the unmanned aerial vehicle  1000  is a situation with weak light, the unmanned aerial vehicle  1000  may enter at least two control modes. For example, the unmanned aerial vehicle  1000  may enter the fill light mode and/or the alarm mode and/or the precise positioning mode. In some exemplary embodiments, the second preset priority setting of the unmanned aerial vehicle  1000  may be set as “alarm mode &gt;precise positioning mode &gt;fill light mode”. 
     In some exemplary embodiments, in some exemplary embodiments, for the control mode, the unmanned aerial vehicle  1000  may first determine, based on the second preset priority setting, whether a condition for obtaining the alarm mode is satisfied, then determine whether a condition for obtaining the precise positioning mode is satisfied, and finally determine whether a condition for obtaining the fill light mode is satisfied. For example, when the unmanned aerial vehicle  1000  satisfies the condition for the alarm mode, that is, satisfies that the unmanned aerial vehicle  1000  is beyond the line of sight under weak light in one or more of the previous embodiments, an indication apparatus  301  in the execution device  300  of the unmanned aerial vehicle  1000  may raise an alarm; when the unmanned aerial vehicle  1000  does not satisfy the condition for the alarm mode, the unmanned aerial vehicle  1000  may determine whether the unmanned aerial vehicle  1000  satisfies the condition for the precise positioning mode; and when the condition for the precise positioning mode under weak light is satisfied, the power apparatus  304  in the execution device  300  of the unmanned aerial vehicle  1000  may adjust the unmanned aerial vehicle  1000  to make motion compensation, to implement precise positioning. Further, after completing precise positioning under weak light, the unmanned aerial vehicle  1000  may determine whether it is necessary to enter the fill light mode. For example, after entering a photographing mode, the unmanned aerial vehicle  1000  may automatically obtain the fill light mode, to achieve a better imaging effect under weak light. 
     It may be understood that after obtaining the precise positioning mode, the unmanned aerial vehicle  1000  may automatically enter or not enter the fill light mode, or select to enter or not to enter the fill light mode based on an external instruction input by the user. This is not limited herein. Further, the unmanned aerial vehicle  1000  may obtain a corresponding control mode based on the sensing information, or may obtain a corresponding mode based on an external instruction input by the user, or may further obtain a corresponding control mode based on a combination of the sensing information and an instruction input by the user. This is not limited herein. 
     Further, in some exemplary embodiments, the unmanned aerial vehicle  1000  may further include a control end  400 , and a display screen  401  may be disposed at the control end  400 . In some exemplary embodiments, after a corresponding control mode, for example, the precise positioning mode, is obtained, a prompt instruction may be generated on the display screen  401 , to prompt the user that the unmanned aerial vehicle  1000  enters the obtained precise positioning mode. 
     Further, in some exemplary embodiments, when two or more control modes conflict, a prompt instruction may be generated and displayed on the display screen  401  to prompt the user. For example, when the fill light mode and the precise positioning mode conflict, the unmanned aerial vehicle  1000  may generate a prompt instruction and displays the prompt instruction on the display screen  401 , to prompt the user to select an appropriate control mode by inputting an instruction. 
     In some exemplary embodiments, a sensing assembly  10  of an unmanned aerial vehicle  1000  may include different sensing apparatuses, to obtain a plurality of types of sensing information. Further, the unmanned aerial vehicle  1000  may obtain the plurality of the sensing information based on a first preset priority setting. Referring to  FIG. 13 , the sensing assembly  10  of the unmanned aerial vehicle  1000  may include a satellite positioning apparatus  105 , an inertial measurement sensor  106 , a vision sensor  104 , and a laser radar  107 . Further, an execution device  300  of the unmanned aerial vehicle  1000  is a power apparatus  304 . In some exemplary embodiments, referring to  FIG. 14 , an unmanned aerial vehicle control method in some exemplary embodiments of the present disclosure may include the following steps. 
     S 2015 . Obtaining status information and environment information of an unmanned aerial vehicle  1000 . 
     In some exemplary embodiments, in some exemplary embodiments, the unmanned aerial vehicle  1000  may first obtain the status information of the unmanned aerial vehicle  1000 , and then obtain the environment information of the unmanned aerial vehicle  1000 . Further, the status information of the unmanned aerial vehicle  1000  may include location information and posture information, and the environment information may include depth information. In some exemplary embodiments, a priority of the location information may be preset to be higher than that of the posture information. For example, in some exemplary embodiments, a first preset priority setting of the sensing information may be set as “location information &gt;posture information &gt;depth information”. 
     In some exemplary embodiments, in some exemplary embodiments, a sensing assembly  10  of the unmanned aerial vehicle  1000  may include a satellite positioning apparatus  105 , an inertial measurement sensor  106 , a vision sensor  104 , and a laser radar  107 . The sensing assembly  10  may first obtain the location information of the unmanned aerial vehicle  1000  by using the satellite positioning apparatus  105 , then obtain the posture information of the unmanned aerial vehicle  1000  by using the inertial measurement sensor  106 , and finally obtain the depth information in the environment information of the unmanned aerial vehicle  1000  by using the vision sensor  104  and/or the laser radar  107 . 
     It may be understood that these embodiments are only examples for description. The unmanned aerial vehicle  1000  may also include another sensing assembly  10  for obtaining the status information and the environment information of the unmanned aerial vehicle, and the first preset priority setting of the sensing information may be set in any appropriate sequence. This is not limited herein. 
     S 2035 . Obtaining an obstacle avoidance mode. 
     Further, the unmanned aerial vehicle  1000  may obtain the obstacle avoidance mode. For example, in some exemplary embodiments, the unmanned aerial vehicle  1000  may obtain the obstacle avoidance mode based on the status information and the environment information of the unmanned aerial vehicle  1000  that are obtained by the sensing assembly  10 . In some exemplary embodiments, the unmanned aerial vehicle  1000  may also obtain the obstacle avoidance mode based on an external instruction input by a user. For example, the user may directly obtain the obstacle avoidance mode by inputting. This is not limited herein. 
     S 2055 . Calling and/or invoking a power apparatus  304  in the obstacle avoidance mode. 
     After obtaining the obstacle avoidance mode, the unmanned aerial vehicle  1000  may call and/or invoke the power apparatus  304  in an execution device  300  in the obstacle avoidance mode, to implement an obstacle avoidance function. In some exemplary embodiments, the power apparatus  304  may include a motor assembly and a propeller assembly. As described above, the motor assembly and the propeller assembly may be disposed on an arm assembly. For example, when the unmanned aerial vehicle  1000  is a four-rotor aircraft, the arm assembly of the unmanned aerial vehicle  1000  may include four arms, and the corresponding power apparatus  304  may include four motor assemblies and four propeller assemblies, which are respectively disposed on the arms. Further, the posture or the azimuth of the unmanned aerial vehicle  1000  may be adjusted by using the motor assembly and the propeller assembly that are disposed on the arm assembly, to achieve expected moving of the unmanned aerial vehicle  1000 . In some exemplary embodiments, the unmanned aerial vehicle  1000  may also include another appropriate power apparatus  304 . This is not limited herein. 
     S 2075 . Generating an obstacle avoidance instruction based on the obstacle avoidance mode, the status information, and the environment information, and sending the obstacle avoidance instruction to the power apparatus  304 . 
     In some exemplary embodiments, in some exemplary embodiments, after obtaining the status information and the environment information, the sensing assembly  10  of the unmanned aerial vehicle  1000  may send the information to a processor  20  of an unmanned aerial vehicle control system  100 . In the obstacle avoidance mode, the processor  20  may generate the obstacle avoidance instruction based on the status information and the environment information, and send the obstacle avoidance instruction to the power apparatus  304  in the execution device  300 . 
     S 2095 . The power apparatus  304  receiving the obstacle avoidance instruction, and performing a corresponding action based on the obstacle avoidance instruction to implement obstacle avoidance. 
     In some exemplary embodiments, in some exemplary embodiments, the power apparatus  304  may receive the obstacle avoidance instruction, and perform the corresponding action, for example, control the unmanned aerial vehicle  1000  to fly toward a direction away from an obstacle, or fly around the obstacle, or hover in a current position or perform small-range motion adjustment in a current position. 
     Further, referring to  FIG. 15 , after recognizing the obstacle in the obstacle avoidance mode, the unmanned aerial vehicle  1000  may further enter an automatic path planning mode, implement automatic planning of a flight path to keep away from the obstacle, ensure that the unmanned aerial vehicle  1000  automatically avoids the obstacle during flight, and implement safe reliable flight. It may be understood that these embodiments are only examples for description. In some exemplary embodiments, the unmanned aerial vehicle  1000  may not recognize the obstacle, but directly enters the automatic path planning mode based on the status information and the environment information of the unmanned aerial vehicle  1000 , to facilitate automatic planning of the flight path. This is not limited herein. 
     Referring to  FIG. 2 ,  FIG. 15 , and  FIG. 16 , In some exemplary embodiments, the unmanned aerial vehicle  1000  may include a gimbal  305 , where a gimbal posture adjustment apparatus  306  may be disposed on the gimbal  305 . In some exemplary embodiments, the gimbal  305  may be, for example, a tri-axis gimbal, and the gimbal posture adjustment apparatus  306  may include three motors, which are respectively disposed on three-axis frames of the gimbal  305 , and configured to adjust a posture of the gimbal to an expected posture. Further, the gimbal carries a projection apparatus  307 . After the unmanned aerial vehicle  1000  recognizes the obstacle in the obstacle avoidance mode, the unmanned aerial vehicle  1000  may further enter a projection mode. Referring to  FIG. 17 , an unmanned aerial vehicle control method in some exemplary embodiments may include the following steps. 
     S 20151 . Obtaining depth information in environment information of an unmanned aerial vehicle  1000 . 
     In some exemplary embodiments, in some exemplary embodiments, a vision sensor  104  in a sensing assembly  10  may obtain the depth information in the environment information of the unmanned aerial vehicle  1000 , where the depth information is information about a distance between the unmanned aerial vehicle  1000  and an obstacle and angle information. In some exemplary embodiments, the obstacle is a projection screen. In this way, a processor  20  may obtain information about a distance between the unmanned aerial vehicle  1000  and the projection screen and angle information, to obtain an appropriate projection angle. It may be understood that In some exemplary embodiments, the sensing information is not limited to this, for example, may further include other appropriate sensing information such as light intensity information. The information is only an example for description, and is not limited herein. 
     S 20351 . Obtaining a projection mode. 
     Further, the unmanned aerial vehicle  1000  may obtain the projection mode. For example, in some exemplary embodiments, the unmanned aerial vehicle  1000  may further automatically enter the projection mode after obtaining an obstacle avoidance mode. In some exemplary embodiments, the unmanned aerial vehicle may also obtain the projection mode based on an external instruction input by a user. For example, the user may directly obtain the projection mode by inputting. This is not limited herein. 
     S 20551 . Calling and/or invoking a gimbal posture adjustment apparatus  306  and a projection apparatus  307  in the projection mode. 
     After obtaining the projection mode, the unmanned aerial vehicle  1000  may call and/or invoke the gimbal posture adjustment apparatus  306  and the projection apparatus  307  in an execution device in the projection mode, where the gimbal posture adjustment apparatus  306  may be configured to adjust a gimbal  305  to an appropriate position facing the obstacle (that is, the projection screen), and then the projection apparatus  307  may be configured to play projection content. 
     S 20751 . Generating a gimbal posture adjustment instruction and a projection enabling instruction based on the projection mode and the depth information, and sending the instructions to the gimbal posture adjustment apparatus  306  and the projection apparatus  307 . 
     In some exemplary embodiments, in some exemplary embodiments, the unmanned aerial vehicle  1000  may send the obtained depth information to the processor  20  of an unmanned aerial vehicle control system  100 ; and the processor  20  may generate the gimbal posture adjustment instruction and the projection enabling instruction based on the depth information, and may send the instructions to the gimbal posture adjustment apparatus  306  and the projection apparatus  307  in the execution device  300  respectively. 
     S 20951 . The gimbal posture adjustment apparatus  306  and the projection apparatus  307  receiving the gimbal posture adjustment instruction and the projection enabling instruction based on a third preset priority setting and performing corresponding actions based on the gimbal posture adjustment instruction and the projection enabling instruction. 
     In some exemplary embodiments, the gimbal posture adjustment apparatus  306  and the projection apparatus  307  in the execution device  300  may receive, based on the third preset priority setting, the gimbal posture adjustment instruction and the projection enabling instruction sent by the processor  20 , and perform the corresponding actions based on the gimbal posture adjustment instruction and the projection enabling instruction. For example, the third preset priority setting may be set in a way that a priority of the gimbal posture adjustment instruction is higher than that of the projection enabling instruction. For example, the gimbal posture adjustment instruction may be first received and executed to control the gimbal posture adjustment apparatus  306  to adjust the gimbal to an appropriate position facing the obstacle (that is, the projection screen), and then the projection enabling instruction is received and executed to turn on the projection apparatus  307 . 
     S 20952 . After receiving the gimbal posture adjustment instruction and the projection instruction, the gimbal posture adjustment apparatus  306  and the projection apparatus  307  performing corresponding actions based on a third preset priority setting and based on the gimbal posture adjustment instruction and the projection enabling instruction. 
     In some exemplary embodiments, the gimbal posture adjustment apparatus  306  and the projection apparatus  307  in the execution device  300  may also be configured to perform the corresponding actions based on the third preset priority setting after receiving the gimbal posture adjustment instruction and the projection enabling instruction. For example, the third preset priority setting may still be set in a way that the priority of the gimbal posture adjustment instruction is higher than that of the projection enabling instruction. For example, after receiving the gimbal posture adjustment instruction and the projection enabling instruction sent by the processor  20 , the gimbal posture adjustment apparatus  306  and the projection apparatus  307  in the execution device  300  may first execute the gimbal posture adjustment instruction to control the gimbal posture adjustment apparatus  306  to adjust the gimbal  305  to an appropriate position facing the obstacle (that is, the projection screen), and then execute the projection enabling instruction to turn on the projection apparatus  307 . 
     In this way, the unmanned aerial vehicle  1000  can automatically adjust the projection apparatus  307  in the projection mode to an appropriate position and then turn on the projection apparatus to play the projection content. 
     It may be understood that the unmanned aerial vehicle  1000  may also automatically enter the projection mode after recognizing the obstacle in the obstacle avoidance mode. For example, in some exemplary embodiments, when the processor  20  in the unmanned aerial vehicle control system  100  of the unmanned aerial vehicle  1000  may determine, based on the sensing information, that the obstacle is the projection screen, the unmanned aerial vehicle  1000  may automatically enter the projection mode. The processor  20  may determine, based on a size, surface smoothness, or the like of the obstacle, whether the obstacle is the projection screen. In some exemplary embodiments, alternatively, the unmanned aerial vehicle  1000  may not enter the obstacle avoidance mode, but may directly enter the projection mode. This is not limited herein. 
     Further, after the unmanned aerial vehicle  1000  may obtain the sensing information obtained by the sensing assembly  10 , the unmanned aerial vehicle  1000  may obtain at least one of the control modes based on a second preset priority setting. For example, after the processor  20  of the unmanned aerial vehicle control system  100  may obtain the status information and the environment information of the unmanned aerial vehicle  1000 , the unmanned aerial vehicle  1000  may enter at least two control modes. For example, the unmanned aerial vehicle  1000  may enter at least one of the obstacle avoidance mode, an automatic path planning mode, and the projection mode. In some exemplary embodiments, for the control mode, the unmanned aerial vehicle  1000  may first enter the obstacle avoidance mode based on the second preset priority setting, and then determine whether to further enter the automatic path planning mode or the projection mode. For example, a priority of the obstacle avoidance mode may be the highest. It may be understood that the second preset priority setting of the control mode is not limited to this. These embodiments are only examples for description, and are not limited herein. 
     Further, when control modes selected by the unmanned aerial vehicle  1000  after the obstacle avoidance mode conflict, for example, when the automatic path planning mode and the projection mode conflict, in some exemplary embodiments, the unmanned aerial vehicle  1000  preferentially selects the automatic path planning mode, that is, a priority of the automatic path planning mode is higher than that of the projection mode. In some exemplary embodiments, the unmanned aerial vehicle preferentially may select the projection mode, that is, a priority of the projection mode is higher than that of the automatic path planning mode. In still another implementation, the unmanned aerial vehicle  1000  may further include a control end  400 , where a display screen  401  may be disposed at the control end  400 , and the display screen  401  may generate a prompt instruction, to prompt the user of a mode conflict, and prompt the user to select a mode to be entered. 
     It may be understood that the foregoing implementations are all examples for description. In some exemplary embodiments, the unmanned aerial vehicle  1000  may also directly enter the automatic path planning mode or the projection mode without using the obstacle avoidance mode. Further, the unmanned aerial vehicle  1000  may obtain a corresponding control mode based on the sensing information, or may obtain a corresponding mode based on an instruction input by the user, or may further obtain a corresponding control mode based on a combination of the sensing information and an instruction input by the user. This is not limited herein. 
     Further, after the unmanned aerial vehicle  1000  may obtain and enters the automatic path planning mode or the projection mode, the display screen  401  may further display a flight path of the unmanned aerial vehicle  1000  or the projection content of the unmanned aerial vehicle  1000 . This is not limited herein. 
     Referring to  FIG. 18 , in some exemplary embodiments, a sensing assembly  10  of an unmanned aerial vehicle  1000  is a vision sensor  104 , where the vision sensor  104  may be configured to obtain interaction information in environment information of the unmanned aerial vehicle  1000 . Further, an execution device  10  of the unmanned aerial vehicle  1000  is a display apparatus  308 . In some exemplary embodiments, referring to  FIG. 19 , an unmanned aerial vehicle control method in some exemplary embodiments of the present disclosure may include the following steps. 
     S 2016 . Obtaining interaction information in environment information of an unmanned aerial vehicle  1000 . 
     In some exemplary embodiments, a sensing assembly  10  of the unmanned aerial vehicle  1000  may be a vision sensor  104 , where the vision sensor  104  may be configured to obtain the interaction information in the environment information of the unmanned aerial vehicle  1000 . For example, the interaction information may be information such as a gesture action of a user. The unmanned aerial vehicle  1000  may obtain the interaction information by using the vision sensor  104 . It may be understood that the unmanned aerial vehicle  1000  may also obtain the interaction information by using another appropriate sensing apparatus. This is not limited herein. 
     S 2036 . Obtaining an interaction mode. 
     Further, the unmanned aerial vehicle  1000  may obtain the interaction mode. For example, in some exemplary embodiments, the unmanned aerial vehicle  1000  may automatically obtain the interaction mode based on the interaction information. For example, the unmanned aerial vehicle  1000  may be triggered based on a specific interaction action to enter the interaction mode. In some exemplary embodiments, the unmanned aerial vehicle  1000  may also obtain the interaction mode based on an external instruction input by the user. This is not limited herein. 
     S 2056 . Call and/or invoke a display apparatus  308  in the interaction mode. 
     After obtaining the interaction mode, the unmanned aerial vehicle  1000  may call and/or invoke the display apparatus  308  in an execution device  300  in the interaction mode, to display the interaction information. For example, the display apparatus  308  may be an LED matrix disposed in a top position of the unmanned aerial vehicle  1000 . It may be understood that In some exemplary embodiments, the display apparatus  308  may be an appropriate display apparatus  308  disposed in an appropriate position of the unmanned aerial vehicle  1000 , for example, a flexible display screen. Further, another execution device  300  may also be called and/or invoked in the interaction mode. These embodiments are only examples for description, and is not limited herein. 
     S 2076 . Generating an interaction instruction based on the interaction mode and the interaction information, and sending the interaction instruction to the display apparatus  308 . 
     In some exemplary embodiments, in some exemplary embodiments, after obtaining the interaction information in the environment information of the unmanned aerial vehicle  1000 , the vision sensor  104  may send the interaction information to a processor  20  of an unmanned aerial vehicle control system  100 . Further, the processor  20  of the unmanned aerial vehicle control system  100  may recognize and determine the interaction information, and generate the corresponding interaction instruction. For example, in some exemplary embodiments, after the vision sensor  104  obtains, for example, a gesture action, the processor  20  correspondingly may determine an interaction instruction corresponding to the action, and therefore generate the corresponding interaction instruction based on a determining result. The processor  20  may send the interaction instruction to the display apparatus  308 . 
     S 2096 . The display apparatus  308  receiving the interaction instruction, and performing a corresponding action based on the interaction instruction to display corresponding content. 
     In some exemplary embodiments, the display apparatus  308  may display corresponding interaction content based on the interaction instruction. Further, when the display apparatus is, for example, an LED matrix, a corresponding interaction instruction may be to display a corresponding shape in a corresponding position of the LED matrix or display a corresponding color in a corresponding position, to form content such as a corresponding text, an emoticon, or an image. It may be understood that the interaction instruction may be a preprogrammed instruction, so that corresponding content is called and/or invoked in a specific interaction action. In some exemplary embodiments, corresponding content may be displayed directly based on an interaction action. This is not limited herein. 
     Further, in some exemplary embodiments, the unmanned aerial vehicle  1000  may further include a control end  400 , and a display screen  401  may be disposed at the control end  400 . In some exemplary embodiments, after the interaction mode is obtained, a prompt instruction may be generated on the display screen  401 , to prompt the user that the unmanned aerial vehicle  1000  enters the interaction mode. Further, the display screen  401  may further display the interaction action and/or the content corresponding to the interaction instruction. This is not limited herein. 
     Referring to  FIG. 20 , in some exemplary embodiments, an unmanned aerial vehicle  1000  may further include a communication apparatus  108 , where the communication apparatus  108  may be connected to an external device  50 , and the unmanned aerial vehicle  1000  may obtain sensing information from the external device  50  by using the communication apparatus  108 . 
     Further, the external device  50  may include a control end  400 . In some exemplary embodiments, the control end  400  may include a mobile device or a remote control apparatus. Further, the control end  400  and the unmanned aerial vehicle  1000  may be connected in a wireless mode. In this case, a user may input a user instruction at the control end  400  such as the mobile device or the remote control apparatus, where the user instruction may be sensing information expected by the user, and the unmanned aerial vehicle  1000  may obtain a corresponding control mode based on the sensing information expected by the user. For example, the user may obtain an alarm mode by inputting sensing information such as location information, luminance information, or temperature information by using the control end  400  such as the mobile device or the remote control apparatus; or the user may directly obtain an alarm mode by inputting, call and/or invoke a corresponding execution device in this mode, and perform a corresponding action. In this way, the user can directly control the unmanned aerial vehicle  1000 , to improve user control on the unmanned aerial vehicle  1000 , and avoid a danger. 
     For another example, referring to  FIG. 21 , in some exemplary embodiments, an external device  50  may be a mobile device  403 , an unmanned aerial vehicle  1000  may be connected to the mobile device  403  by using a communication apparatus  108 , and the mobile device  403  may be configured to obtain signal information in environment information of the unmanned aerial vehicle  1000 . Further, an execution device  10  of the unmanned aerial vehicle  1000  is a signal transfer apparatus  309 . In some exemplary embodiments, referring to  FIG. 22 , an unmanned aerial vehicle control method in some exemplary embodiments of the present disclosure may include the following steps. 
     S 2017 . Obtaining signal information in environment information of an unmanned aerial vehicle  1000 . 
     In some exemplary embodiments, a communication apparatus  108  may be connected to a mobile device  403 , and the mobile device  403  may be configured to obtain the signal information in the environment information of the unmanned aerial vehicle  1000 . For example, the signal may be a marine lamp signal. In some exemplary embodiments, in some exemplary embodiments, the mobile device  403  may obtain the marine lamp signal by using a device such as a photographing apparatus. Further, after obtaining the marine lamp signal, the mobile device  403  may send the marine lamp signal to a processor  20  in an unmanned aerial vehicle control system  100  of the unmanned aerial vehicle  1000 . 
     S 2037 . Obtaining a signal transfer mode. 
     Further, the processor  20  of the unmanned aerial vehicle  1000  may obtain the signal transfer mode. For example, in some exemplary embodiments, the processor  20  of the unmanned aerial vehicle  1000  may automatically obtain the signal transfer mode based on the signal information. In some exemplary embodiments, the unmanned aerial vehicle  1000  may enter the signal transfer mode based on an external instruction input by a user. This is not limited herein. 
     S 2057 . Calling and/or invoking a signal transfer apparatus  309  in the signal transfer mode. 
     After obtaining the signal transfer mode, the unmanned aerial vehicle  1000  may call and/or invoke the signal transfer apparatus  309  in an execution device  300  in the signal transfer mode, so that the signal information is correspondingly processed and transferred. 
     S 2077 . Generating a signal transfer instruction based on the signal transfer mode and the signal information, and sending the signal transfer instruction to the signal transfer apparatus  309 . 
     In some exemplary embodiments, when the signal information is a marine lamp signal, the processor  20  may translate the obtained marine lamp signal, and send the translated marine lamp signal to the signal transfer apparatus, so that the signal information is transferred. 
     S 2097 . The signal transfer apparatus  309  receiving the transfer instruction, and performing a corresponding action based on the transfer instruction to transfer corresponding content. 
     In some exemplary embodiments, the mobile device  403  may further include a display screen  401 . After the processor  20  translates the marine lamp signal, the translated marine lamp signal may be displayed on the display screen  401  of the mobile device  403 , so that the user can directly read a meaning of the marine lamp signal. This may improve user experience. It may be understood that the signal information is not limited to the marine lamp signal, and may be other appropriate signal information. A manner of obtaining the signal information is not limited to the photographing apparatus of the mobile device  403 , and is not limited herein. 
     In some exemplary embodiments, the external device  50  may be a predefined website. The unmanned aerial vehicle  1000  may be connected to the predefined website in a wireless communication mode, so that the unmanned aerial vehicle  1000  can obtain sensing information from the predefined website, without using a sensing apparatus for sensing. It may be understood that the external device  50  may be further connected to the unmanned aerial vehicle  1000  in another connection mode, such as a satellite communication connection. This is not limited herein. 
     In some exemplary embodiments, in some exemplary embodiments, the unmanned aerial vehicle  1000  may obtain meteorological information such as wind speed information, air pressure information, and weather information from a predefined meteorological website in a wireless communication mode, and automatically plan a flight path based on the meteorological information such as the wind speed information, the air pressure information, and the weather information. In some exemplary embodiments, the unmanned aerial vehicle  1000  may obtain air control information from the predefined website, and automatically plan a flight path based on the air control information. In this way, the unmanned aerial vehicle  1000  can implement network-wide convergence, and obtain expected sensing information from the predefined website in real time. Therefore, intelligent highly-efficient flight management may be realized, and user experience may be improved. It may be understood that the unmanned aerial vehicle  1000  may be connected to an appropriate predefined website based on an expectation of the user, to obtain sensing information expected by the user. These embodiments are only examples for description herein, and are not limited. 
     In some exemplary embodiments, a control end  400  of the unmanned aerial vehicle  1000  may also be connected to the predefined website by using the communication apparatus. In this way, the user may input a user instruction at the control end  400 , to obtain, from the predefined website by user inputting, sensing information expected by the user. Further, a display screen  401  may be disposed at the control end  400 , and the display screen  401  may display obtained sensing information and/or a control mode, to facilitate visual observation and control by the user, and further improve user experience. This is not limited herein. 
     Referring to  FIG. 23 , in some exemplary embodiments, a sensing assembly  10  of an unmanned aerial vehicle  1000  is a power detection apparatus  109 , where the power detection apparatus  109  may be configured to obtain power information in status information of the unmanned aerial vehicle  1000 , and an execution device  300  is a power supply apparatus  310 . In some exemplary embodiments, referring to  FIG. 24 , an unmanned aerial vehicle control method in some exemplary embodiments of the present disclosure may include the following steps. 
     S 2018 . Obtaining power information in status information of an unmanned aerial vehicle  1000 . 
     In some exemplary embodiments, a sensing assembly  10  may be a power detection apparatus  109 , configured to obtain the power information in the status information of the unmanned aerial vehicle  1000 . For example, the power detection apparatus  109  may be a power detection apparatus disposed in each battery of the unmanned aerial vehicle  1000 , or may be a battery management system that may be disposed in an unmanned aerial vehicle control system  100  and capable of communicating with a battery group. This is not limited herein. 
     S 2038 . Obtaining a safety protection mode. 
     Further, the unmanned aerial vehicle  1000  may obtain the safety protection mode. For example, in some exemplary embodiments, the unmanned aerial vehicle  1000  may automatically obtain the safety protection mode based on the power information, and call and/or invoke a power supply apparatus  310  in an execution device  300  in the safety protection mode. In some exemplary embodiments, the unmanned aerial vehicle  1000  may also obtain the safety protection mode based on an external instruction input by a user. This is not limited herein. 
     S 2058 . Calling and/or invoking a power supply apparatus  310  in the safety protection mode. 
     After obtaining the safety protection mode, the unmanned aerial vehicle  1000  may call and/or invoke the power supply apparatus  310  in the execution device  300  in the safety protection mode. Further, in some exemplary embodiments, the power supply apparatus  310  may be, for example, an intelligent battery or an intelligent battery group. 
     S 2078 . Generating a safe power supply instruction based on the safety protection mode and the power information, and sending the safe power supply instruction to the power supply apparatus  310 . 
     In some exemplary embodiments, in some exemplary embodiments, when a power sensing value obtained by the power detection apparatus  109  is less than a preset power threshold, remaining power of the unmanned aerial vehicle  1000  may be insufficient to support safe landing of the unmanned aerial vehicle  1000 , and the power sensing value may be sent to a processor  20  of the unmanned aerial vehicle control system  100 . The processor  20  may calculate, based on the power sensing value, the safe power supply instruction required for safe landing of the unmanned aerial vehicle  1000 . The safe power supply instruction may be sent to the power supply apparatus  310  in the execution device  300 . 
     S 2098 . The power supply apparatus  310  receiving the safe power supply instruction, and performing a corresponding action based on the safe power supply instruction to implement safe power supply. 
     In some exemplary embodiments, in some exemplary embodiments, after receiving the safe power supply instruction, the power supply apparatus  310  may perform the corresponding action based on the safe power supply instruction. For example, the power supply apparatus may guarantee power supply for the unmanned aerial vehicle  1000  based on a priority setting, to guarantee flight safety of the unmanned aerial vehicle  1000 . For example, in some exemplary embodiments, the unmanned aerial vehicle  1000  may preferentially guarantee power supply for the unmanned aerial vehicle control system  100 , a satellite positioning apparatus  105 , a power apparatus  304 , a vision sensor  104 , and the like of the unmanned aerial vehicle  1000 , to ensure that the unmanned aerial vehicle  1000  can safely return to an original point or safely land. In some exemplary embodiments, the unmanned aerial vehicle  1000  may be further configured to preferentially supply power for an indication apparatus  301 , so that when the unmanned aerial vehicle  1000  does not land at the original point, indication information may be sent out at a landing point, to help the user find the unmanned aerial vehicle  1000 . It may be understood that these embodiments are only examples for description. A priority setting of the unmanned aerial vehicle  1000  may be any appropriate sequence. This is only an example for description, and is not limited. 
     Further, in some exemplary embodiments, the unmanned aerial vehicle  1000  may further include a control end  400 , and a display screen  401  may be disposed at the control end  400 . In some exemplary embodiments, after the safety protection mode is obtained, a prompt instruction may be generated on the display screen  401 , to prompt the user that the unmanned aerial vehicle  1000  enters the safety protection mode. 
     Referring to  FIG. 25 , in some exemplary embodiments, a sensing assembly  10  of an unmanned aerial vehicle  1000  is a resource monitor  110 , where the resource monitor  110  may be configured to obtain operation resource information in status information of the unmanned aerial vehicle  1000 . In some exemplary embodiments, referring to  FIG. 26 , an unmanned aerial vehicle control method in some exemplary embodiments of the present disclosure may include the following steps. 
     S 2019 . Obtaining operation resource information in status information of an unmanned aerial vehicle  1000 . 
     In some exemplary embodiments, a sensing assembly  10  is a resource monitor  110 , configured to obtain the operation resource information in the status information of the unmanned aerial vehicle  1000 . 
     S 2039 . Obtaining a safe running mode. 
     Further, the unmanned aerial vehicle  1000  may obtain the safe running mode. For example, in some exemplary embodiments, the unmanned aerial vehicle  1000  may automatically obtain the safe running mode based on the operation resource information. In some exemplary embodiments, the unmanned aerial vehicle  1000  may also obtain the safety protection mode based on an external instruction input by a user. This is not limited herein. 
     S 2059 . Calling and/or invoking a processor  20  in the safe running mode. 
     After obtaining the safe running mode, the unmanned aerial vehicle  1000  may call and/or invoke the processor  20  in the safe running mode. Further, in some exemplary embodiments, the processor  20  may control running and shutdown of an execution device  300 . 
     S 2079 . Generating a safe running instruction based on the safe running mode and the operation resource information, and send the safe running instruction to the processor  20 . 
     In some exemplary embodiments, in some exemplary embodiments, when an operation resource information value obtained by the resource monitor  110  is greater than a preset threshold, operations of the unmanned aerial vehicle  1000  may be excessive, and safe working of the unmanned aerial vehicle  1000  cannot be supported. In this case, the operation resource information value may be sent to the processor  20  of an unmanned aerial vehicle control system  100 . The processor  20  may calculate, based on the operation resource information value, the safe running instruction required for safe working of the unmanned aerial vehicle  1000 . 
     S 2099 . The processor  20  receiving the safe running instruction, and sending the safe running instruction to a corresponding execution device to perform a corresponding action. 
     In some exemplary embodiments, in some exemplary embodiments, the processor  20  may receive the safe running instruction, and send the safe running instruction to the corresponding execution device  300  to perform the corresponding action. For example, the processor  20  may guarantee safe smooth running of the unmanned aerial vehicle  1000  based on a priority setting, to guarantee flight safety of the unmanned aerial vehicle  1000 . For example, in some exemplary embodiments, the unmanned aerial vehicle  1000  may preferentially guarantee running of the unmanned aerial vehicle control system  100 , a satellite positioning apparatus  105 , a power apparatus  304 , a vision sensor  104 , and the like of the unmanned aerial vehicle  1000 , to ensure that the unmanned aerial vehicle  1000  can fly safely. It may be understood that these embodiments are only examples for description. A priority setting of the unmanned aerial vehicle  1000  may be any appropriate sequence, and is not limited herein. 
     Further, in some exemplary embodiments, the unmanned aerial vehicle  1000  may further include a control end  400 , and a display screen  401  may be disposed at the control end  400 . In some exemplary embodiments, after the safe running mode is obtained, a prompt instruction may be generated on the display screen  401 , to prompt the user that the unmanned aerial vehicle  1000  enters the safe running mode. 
     In some exemplary embodiments, status information of an unmanned aerial vehicle  1000  may include at least location information, posture information, remaining power information, and operation resource information; environment information may include at least luminance information, temperature information, and interaction information; the control mode may include at least a fill light mode, an obstacle avoidance mode, an alarm mode, an interaction mode, a safety protection mode, and a safe running mode; and the execution device may include at least a fill light apparatus  302 , a power apparatus  304 , an indication apparatus  301 , a power supply apparatus  310 , and a processor  20 . 
     Further, in some exemplary embodiments, the processor  20  of an unmanned aerial vehicle control system  100  may make a selection among the fill light mode, the obstacle avoidance mode, the alarm mode, the interaction mode, the safety protection mode, and the safe running mode based on a second preset priority, to generate a corresponding control instruction and implement intelligent outputting of the execution device. For example, the second preset priority may be set as “safe running mode &gt;safety protection mode &gt;fill light mode &gt;obstacle avoidance mode &gt;alarm mode &gt;interaction mode”. It may be understood that the second preset priority setting may be another appropriate priority sorting. These embodiments are only examples for description, and are not limited herein. 
     In some exemplary embodiments, the processor  20  of the unmanned aerial vehicle control system  100  makes a selection among the fill light mode, the obstacle avoidance mode, the alarm mode, the interaction mode, the safety protection mode, and the safe running mode based on an external instruction, to generate a corresponding control instruction and implement intelligent outputting of the execution device. Further, the external instruction may be input by a user by using a control end  400  such as a mobile device and/or a remote control. 
     It may be understood that the foregoing descriptions are only preferred embodiments of the present disclosure. Although the preferred embodiments of the present disclosure are disclosed above, the embodiments are not intended to limit the present disclosure. Any other sensing information, control modes, or execution devices  300  applied to the unmanned aerial vehicle  1000 , for example, control modes such as an alarm mode obtained based on sensing information such as noise information in the sensing information, shall all fall within the scope of the technical solutions of the present disclosure. For example, the status information and environment information of the unmanned aerial vehicle  1000  may further include other information in addition to the foregoing information, and corresponding control modes may further include other control modes in addition to the foregoing modes. Further, as described above, the sensing information may be obtained based on a first preset priority setting; at least one execution device may receive the control instruction based on a third preset priority setting and perform a corresponding action based on the control instruction, or after receiving the control instruction, at least one execution device performs a corresponding action based on a third preset priority setting and based on the control instruction. 
     It may be understood that the embodiments are only examples for description, and are not limited herein. Any simple variations, equivalent changes, and modifications made to the foregoing embodiments by a person skilled in the art according to the technical essence of the present disclosure without departing from content of the technical solutions of the present disclosure shall all fall within the scope of the technical solutions of the present disclosure, provided that the changes or modifications to the technical content disclosed above are equivalent changes of equivalent embodiments within the scope of the technical solutions of the present disclosure. 
     A portion of the disclosure of this patent document contains material which is subject to copyright protection. The copyright owner has no objection to the facsimile reproduction by anyone of the patent document or the patent disclosure, as it appears in the Patent and Trademark Office patent file or records, but otherwise reserves all copyright rights whatsoever.