Unmanned aerial vehicle landing gear control method, apparatus, unmanned aerial vehicle, and system thereof

An aerial vehicle comprising:

• a vehicle body;
• a landing gear connected to the vehicle body;
• a sensing element configured to sense a relative height of the aerial vehicle, the relative height being a vertical height of the aerial vehicle with respect to an object;
• and
• a controller configured to:
• determine whether the relative height of the aerial vehicle is greater than a height threshold, the height threshold being a safe flight height, and
• in response to the relative height being not greater than the height threshold and the aerial vehicle having not lowered the landing gear, adjust the relative height to the height threshold or above, and lower the landing gear.

A method for controlling a landing gear of an aerial vehicle, comprising:

• obtaining a relative height of the aerial vehicle, the relative height being a vertical height of the UAV with respect to an object surface below the aerial vehicle;
• obtaining a topography of a flight region of the aerial vehicle;
• and
• keeping the landing gear of the aerial vehicle retracted in response to the relative height being greater than a height threshold and at least one of:
• the topography not including contour lines that are denser than a preset density above an altitude threshold;
• or
• a variation of the relative height obtained based on the topography being within a preset range when the UAV flies at a fixed altitude.