WO2018191927A1 - Aerial vehicle control method, remote control device, and mobile device - Google Patents

Abstract

An aerial vehicle control method, a remote control device, and a mobile device. The method comprises: determining a specific function key in at least two function keys is triggered (S101); further determining whether another function key in a specific key combination formed by the specific function key and the another function key is triggered (S102); if the another function key is triggered, sending a first control instruction (S103); and otherwise, sending a second control instruction or not performing an instruction sending operation (S104). In the control method, the occurrence of wrongly sending of an instruction due to wrong judgment of the intention of a user when a specific function key is reused is avoided, thereby improving the accuracy for sending a control instruction.

Description

Aircraft control method, remote control device and mobile device [Technical Field]

Embodiments of the present invention relate to the field of aircraft technologies, and in particular, to a method for controlling an aircraft, a remote control device, and a mobile device.

【Background technique】

At present, unmanned moving bodies, including aircraft (such as fixed-wing aircraft, rotorcraft including helicopters), motor vehicles, submarines or ships, as well as satellite space stations, or spacecraft have been widely used, for example, in the fields of detection, search and rescue, etc. . Manipulation of these moving bodies is usually achieved by the user via a remote control device. The remote control device is usually provided with a plurality of function keys, each of which has its corresponding control command. By triggering these function keys, the corresponding control commands can be sent to the moving body such as the aircraft to control the movement of the moving body.

Due to various factors such as the size of the remote control device, the user's usage habits, and the assembly of the remote control device, the number of function keys on the remote control device has a certain limit, and the number of function keys on the remote control device cannot be increased endlessly, but with the flight control With the development of technology and the increase of user demand, there are more and more types of control for moving bodies such as aircraft. The limited function keys on the remote control device cannot meet the demand, and some functional keys on the remote control device must be reused. Functions, such as enabling two or more function keys to trigger new control commands.

In the prior art, after the function key of the function key on the remote control device is judged to be triggered, the corresponding control command is sent to the aircraft. If the user wants to send a control command of a combination key composed of the function key and other function keys, when the user triggers the function key, the remote control device cannot determine the true intention of the user, and directly sends the control of the function key. The instruction caused an error in the operation.

[Summary of the Invention]

It is an object of embodiments of the present invention to provide a control method for an aircraft, a remote control device, and a mobile device, which can improve the accuracy of a transmitted control command.

In order to achieve the above object, an embodiment of the present invention provides an aircraft control method based on a remote control device, wherein at least two function keys are disposed on the remote control device, and the control method includes:

Determining that a specific one of the at least two function keys is triggered;

Determining the other function keys in the specific combination key formed by the specific function key and other function keys Whether it is triggered;

Sending a first control instruction if the other function key is triggered;

Otherwise, the second control instruction is sent or the instruction transmission operation is not performed.

After the determining that the specific one of the at least two function keys is triggered, the method further includes:

Determining whether a duration in which the specific function key is triggered is greater than or equal to a first preset time;

If it is greater than or equal to the first preset time, performing the step of determining whether the other function key in the specific combination key formed by the specific function key and other function keys is triggered;

Otherwise, the third control instruction is sent or the instruction transmission operation is not performed.

The step of determining whether the other function keys in the specific combination key formed by the specific function key and other function keys are triggered includes:

Obtaining a button state of the specific function key and the other function key;

Determining whether the other function keys are triggered according to a button state of the other function keys;

Determining whether a trigger state of the specific function key changes according to a button state of the specific function key;

If a change occurs, determining that the other function key is not triggered, and ending the step of determining whether the other function key of the specific combination key formed by the specific function key and other function keys is triggered;

Otherwise, the step of acquiring the state of the button of the specific function key and the other function key is further performed.

The step of determining whether the other function key in the specific combination key formed by the specific function key and the other function keys is triggered further includes:

Determining whether a duration of the step of whether the other function key of the specific combination key formed by the specific function key and the other function key is triggered is greater than or equal to a second preset time;

If it is greater than or equal to the second preset time, determining that the other function keys are not triggered, and ending the determining whether the other function keys in the specific combination key formed by the specific function key and other function keys are triggered A step of;

Otherwise, the step of acquiring the state of the button of the specific function key and the other function key is further performed.

After the determining that the specific one of the at least two function keys is triggered, the method further includes:

Determining whether the specific function key is included in the preset at least one candidate combination key;

If the specific function key is included, the candidate combination key including the specific function key is used as the specific combination key, and the specific combination key formed by determining the specific function key and other function keys is performed. a step of whether the other function key is triggered;

Otherwise, the step of transmitting the second control instruction or not performing the instruction transmission operation is performed.

The candidate combination key and the corresponding control instruction are pre-stored in a list form.

Wherein, if the other function key is triggered, the step of sending the first control instruction comprises:

Determining whether a duration in which the specific function key and the other function key are triggered simultaneously is greater than or equal to a third preset time;

If the third preset time is greater than or equal to, the first control instruction is sent;

Otherwise, the transmitting of the second control instruction or the execution of the instruction transmission operation is performed.

Wherein, if the other function key is triggered, the step of sending the first control instruction comprises:

Determining whether the first control instruction is a control instruction executed by the aircraft or a control instruction executed by a mobile device connected to the remote control device;

Sending the first control instruction to the aircraft if the first control instruction is a control instruction executed by the aircraft;

And if the first control instruction is a control instruction executed by the mobile device, transmitting the first control instruction to the mobile device.

Wherein, the step of transmitting the second control instruction or not performing the instruction sending operation includes:

Determining whether the second control instruction is a control instruction executed by the aircraft or a control instruction executed by a mobile device connected to the remote control device;

Sending the second control instruction to the aircraft if the second control instruction is a control instruction executed by the aircraft;

And if the second control instruction is a control instruction executed by the mobile device, transmitting the second control instruction to the mobile device.

Wherein, if the other function key is triggered, the step of sending the first control instruction comprises:

Transmitting the first control instruction to a mobile device connected to the remote control device to cause the mobile device to generate a third control command according to the first control instruction, wherein the third control command is used to control the aircraft Perform the appropriate action.

Wherein, the step of transmitting the second control instruction or not performing the instruction sending operation includes:

Transmitting the second control instruction to a mobile device connected to the remote control device to cause the mobile device to generate a fourth control instruction according to the second control instruction, wherein the fourth control instruction is for The aircraft is controlled to perform corresponding actions.

The first control instruction and the second control instruction are respectively obtained by a table lookup manner according to the specific combination key and the specific function key.

On the other hand, an embodiment of the present invention provides a mobile device-based aircraft control method, where the control method includes:

Receiving, by the remote control device connected to the mobile device, a button state of at least two function keys set on the remote control device;

Determining, by using the button state, that a specific one of the at least two function keys is triggered;

Determining whether the other function keys in the specific combination key formed by the specific function key and other function keys are triggered;

Sending a first control instruction if the other function key is triggered;

Otherwise, the second control instruction is sent or the instruction transmission operation is not performed.

After the determining that the specific one of the at least two function keys is triggered, the method further includes:

Determining whether a duration in which the specific function key is triggered is greater than or equal to a first preset time;

If it is greater than or equal to the first preset time, performing the step of determining whether the other function key in the specific combination key formed by the specific function key and other function keys is triggered;

Otherwise, the third control instruction is sent or the instruction transmission operation is not performed.

The step of determining whether the other function keys in the specific combination key formed by the specific function key and other function keys are triggered includes:

Obtaining a button state of the specific function key and the other function key;

Determining whether the other function keys are triggered according to a button state of the other function keys;

Determining whether a trigger state of the specific function key changes according to a button state of the specific function key;

If a change occurs, determining that the other function key is not triggered, and ending the step of determining whether the other function key of the specific combination key formed by the specific function key and other function keys is triggered;

Otherwise, the step of acquiring the state of the button of the specific function key and the other function key is further performed.

The step of determining whether the other function key in the specific combination key formed by the specific function key and the other function keys is triggered further includes:

Determining the other function keys in the specific combination key formed by the specific function key and other function keys Whether the duration of the triggered step is greater than or equal to the second preset time;

If it is greater than or equal to the second preset time, determining that the other function keys are not triggered, and ending the determining whether the other function keys in the specific combination key formed by the specific function key and other function keys are triggered A step of;

Otherwise, the step of acquiring the state of the button of the specific function key and the other function key is further performed.

After the determining that the specific one of the at least two function keys is triggered, the method further includes:

Determining whether the specific function key is included in the preset at least one candidate combination key;

If the specific function key is included, the candidate combination key including the specific function key is used as the specific combination key, and the specific combination key formed by determining the specific function key and other function keys is performed. a step of whether the other function key is triggered;

Otherwise, the step of transmitting the second control instruction or not performing the instruction transmission operation is performed.

The candidate combination key and the corresponding control instruction are pre-stored in a list form.

Wherein, if the other function key is triggered, the step of sending the first control instruction comprises:

Determining whether a duration in which the specific function key and the other function key are triggered simultaneously is greater than or equal to a third preset time;

If the third preset time is greater than or equal to, the first control instruction is sent;

Otherwise, the transmitting of the second control instruction or the execution of the instruction transmission operation is performed.

Wherein, if the other function key is triggered, the step of sending the first control instruction comprises:

Determining whether the first control instruction is a control instruction executed by the aircraft or a control instruction executed by a mobile device connected to the remote control device;

Sending the first control instruction to the aircraft if the first control instruction is a control instruction executed by the aircraft;

And if the first control instruction is a control instruction executed by the mobile device, transmitting the first control instruction to the mobile device.

Wherein, the step of transmitting the second control instruction or not performing the instruction sending operation includes:

Determining whether the second control instruction is a control instruction executed by the aircraft or a control instruction executed by a mobile device connected to the remote control device;

Sending the second control instruction to the aircraft if the second control instruction is a control instruction executed by the aircraft;

And if the second control instruction is a control instruction executed by the mobile device, transmitting the second control instruction to the mobile device.

In another aspect, the present invention also provides a remote control device for controlling an aircraft, the remote control device comprising:

At least two function keys, a collector, a processor, a memory, and a communication module;

The collector, the memory, and the communication module are all coupled to the processor; the at least two function keys are coupled to the collector;

The collector is configured to acquire a button state of the at least two function keys;

The memory is configured to store an operation instruction executed by the processor and a preset candidate combination key;

The communication module is configured to send a control instruction;

The processor is configured to: perform the following actions according to an operation instruction stored in the memory:

Determining that a specific one of the at least two function keys is triggered;

Determining whether the other function keys in the specific combination key formed by the specific function key and other function keys are triggered;

Sending a first control instruction if the other function key is triggered;

Otherwise, the second control instruction is sent or the instruction transmission operation is not performed.

Wherein, the processor is further configured to execute:

Determining whether a duration in which the specific function key is triggered is greater than or equal to a first preset time;

If it is greater than or equal to the first preset time, performing the step of determining whether the other function key in the specific combination key formed by the specific function key and other function keys is triggered;

Otherwise, the third control instruction is sent or the instruction transmission operation is not performed.

The step of determining, by the processor, whether the other function key in the specific combination key formed by the specific function key and other function keys is triggered includes:

Obtaining a button state of the specific function key and the other function key;

Determining whether the other function keys are triggered according to a button state of the other function keys;

Determining whether a trigger state of the specific function key changes according to a button state of the specific function key;

If a change occurs, determining that the other function key is not triggered, and ending the step of determining whether the other function key of the specific combination key formed by the specific function key and other function keys is triggered;

Otherwise, the step of acquiring the state of the button of the specific function key and the other function key is further performed.

The determining, by the processor, the specific function key and other function keys The step of determining whether the other function key in the combination key is triggered further includes:

Determining whether a duration of the step of whether the other function key of the specific combination key formed by the specific function key and the other function key is triggered is greater than or equal to a second preset time;

If it is greater than or equal to the second preset time, determining that the other function keys are not triggered, and ending the determining whether the other function keys in the specific combination key formed by the specific function key and other function keys are triggered A step of;

Otherwise, the step of acquiring the state of the button of the specific function key and the other function key is further performed.

Wherein, the processor is further configured to execute:

Determining whether the specific function key is included in the preset at least one candidate combination key;

If the specific function key is included, the candidate combination key including the specific function key is used as the specific combination key, and the specific combination key formed by determining the specific function key and other function keys is performed. a step of whether the other function key is triggered;

Otherwise, the step of transmitting the second control instruction or not performing the instruction transmission operation is performed.

The candidate combination key and the corresponding control instruction are pre-stored in a list form.

The step of transmitting the first control instruction, if the other function keys executed by the processor are triggered, includes:

Determining whether a duration in which the specific function key and the other function key are triggered simultaneously is greater than or equal to a third preset time;

If the third preset time is greater than or equal to, the first control instruction is sent;

Otherwise, the transmitting of the second control instruction or the execution of the instruction transmission operation is performed.

The step of transmitting the first control instruction, if the other function keys executed by the processor are triggered, includes:

Determining whether the first control instruction is a control instruction executed by the aircraft or a control instruction executed by a mobile device connected to the remote control device;

Sending the first control instruction to the aircraft if the first control instruction is a control instruction executed by the aircraft;

And if the first control instruction is a control instruction executed by the mobile device, transmitting the first control instruction to the mobile device.

The step of the processor executing the second control instruction or the non-execution instruction sending operation includes:

Determining whether the second control instruction is a control instruction executed by the aircraft or a control instruction executed by a mobile device connected to the remote control device;

Sending the second control instruction to the aircraft if the second control instruction is a control instruction executed by the aircraft;

And if the second control instruction is a control instruction executed by the mobile device, transmitting the second control instruction to the mobile device.

The step of transmitting the first control instruction, if the other function keys executed by the processor are triggered, includes:

Transmitting the first control instruction to a mobile device connected to the remote control device to cause the mobile device to generate a third control command according to the first control instruction, wherein the third control command is used to control the aircraft Perform the appropriate action.

The step of the processor executing the second control instruction or the non-execution instruction sending operation includes:

Transmitting the second control instruction to a mobile device connected to the remote control device to cause the mobile device to generate a fourth control command according to the second control instruction, wherein the fourth control command is used to control the aircraft Perform the appropriate action.

The first control instruction and the second control instruction are respectively obtained by a table lookup manner according to the specific combination key and the specific function key.

In another aspect, the present invention also provides a mobile device for controlling an aircraft, the mobile device comprising: a processor, a memory, and a communication module;

The processor and the memory are both coupled to the processor;

The communication module is configured to send a control instruction to the aircraft or a remote control device connected to the mobile device, and receive a button state of at least two function keys set on the remote control device sent by the remote control device;

The processor is configured to: receive a button state of at least two function keys set on the remote control device sent by a remote control device connected to the mobile device;

Determining, by using the button state, that a specific one of the at least two function keys is triggered;

Determining whether the other function keys in the specific combination key formed by the specific function key and other function keys are triggered;

Sending a first control instruction if the other function key is triggered;

Otherwise, the second control instruction is sent or the instruction transmission operation is not performed.

Wherein, the processor is further configured to execute:

Determining whether a duration in which the specific function key is triggered is greater than or equal to a first preset time;

If it is greater than or equal to the first preset time, performing the step of determining whether the other function key in the specific combination key formed by the specific function key and other function keys is triggered;

Otherwise, the third control instruction is sent or the instruction transmission operation is not performed.

The step of determining, by the processor, whether the other function key in the specific combination key formed by the specific function key and other function keys is triggered includes:

Obtaining a button state of the specific function key and the other function key;

Determining whether the other function keys are triggered according to a button state of the other function keys;

Determining whether a trigger state of the specific function key changes according to a button state of the specific function key;

If a change occurs, determining that the other function key is not triggered, and ending the step of determining whether the other function key of the specific combination key formed by the specific function key and other function keys is triggered;

Otherwise, the step of acquiring the state of the button of the specific function key and the other function key is further performed.

The step of determining whether the other function key in the specific combination key formed by the specific function key and the other function keys is triggered by the processor further includes:

Determining whether a duration of the step of whether the other function key of the specific combination key formed by the specific function key and the other function key is triggered is greater than or equal to a second preset time;

If it is greater than or equal to the second preset time, determining that the other function keys are not triggered, and ending the determining whether the other function keys in the specific combination key formed by the specific function key and other function keys are triggered A step of;

Otherwise, the step of acquiring the state of the button of the specific function key and the other function key is further performed.

Wherein, the processing is also used to execute:

Determining whether the specific function key is included in the preset at least one candidate combination key;

If the specific function key is included, the candidate combination key including the specific function key is used as the specific combination key, and the specific combination key formed by determining the specific function key and other function keys is performed. a step of whether the other function key is triggered;

Otherwise, the step of transmitting the second control instruction or not performing the instruction transmission operation is performed.

The candidate combination key and the corresponding control instruction are pre-stored in a list form.

The step of transmitting the first control instruction, if the other function keys executed by the processor are triggered, includes:

Determining whether a duration in which the specific function key and the other function key are triggered simultaneously is greater than or equal to a third preset time;

If the third preset time is greater than or equal to, the first control instruction is sent;

Otherwise, the transmitting of the second control instruction or the execution of the instruction transmission operation is performed.

The step of transmitting the first control instruction, if the other function keys executed by the processor are triggered, includes:

Determining whether the first control instruction is a control instruction executed by the aircraft or a control instruction executed by a mobile device connected to the remote control device;

Sending the first control instruction to the aircraft if the first control instruction is a control instruction executed by the aircraft;

And if the first control instruction is a control instruction executed by the mobile device, transmitting the first control instruction to the mobile device.

The step of the processor executing the second control instruction or the non-execution instruction sending operation includes:

Determining whether the second control instruction is a control instruction executed by the aircraft or a control instruction executed by a mobile device connected to the remote control device;

Sending the second control instruction to the aircraft if the second control instruction is a control instruction executed by the aircraft;

And if the second control instruction is a control instruction executed by the mobile device, transmitting the second control instruction to the mobile device.

Advantageous Effects: Different from the prior art, the embodiment of the present invention further determines whether a specific combination key is triggered after detecting that a specific function key on the remote control device is triggered, and transmits a specific combination when a specific combination key is triggered. The control instruction corresponding to the key, when the specific combination key is not triggered, sends the second control instruction or does not perform the instruction sending operation, to prevent the specific function key from being triggered, and then sends the specific function key regardless of whether a specific combination key is triggered subsequently In the case of the control command, the occurrence of an instruction transmission error due to an error in the judgment of the user's intention when the specific function key is multiplexed is avoided, and the accuracy of the transmission control command is improved.

[Description of the Drawings]

Figure 1 is a schematic illustration of a first embodiment of an aircraft system of the present invention;

Figure 2 is a schematic block diagram of a remote control device in a first embodiment of the aircraft system of the present invention;

3 is a schematic flow chart of a first embodiment of an aircraft control method based on a remote control device according to the present invention;

4 is a schematic flow chart of an embodiment of step S102 in FIG. 3;

FIG. 5 is a schematic flow chart of another embodiment of step S102 in FIG. 3;

Figure 6 is a schematic view of a second embodiment of the aircraft system of the present invention;

7 is a schematic flow chart of a second embodiment of an aircraft control method based on a remote control device according to the present invention;

8 is a schematic flow chart of a third embodiment of an aircraft control method based on a remote control device according to the present invention;

9 is a schematic flow chart of a fourth embodiment of an aircraft control method based on a remote control device according to the present invention;

Figure 10 is a schematic block diagram of a mobile device in a third embodiment of the aircraft system of the present invention.

【detailed description】

In order to enable a person skilled in the art to better understand the technical solutions of the present invention, the control method, the remote control device and the mobile device of the aircraft disclosed in the embodiments of the present invention are clearly and completely described below with reference to the accompanying drawings and specific embodiments. The described embodiments are only a part of the embodiments of the invention, and not all of the embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative efforts are within the scope of the present invention.

Referring to Figure 1, Figure 1 is a schematic illustration of a first embodiment of an aircraft system of the present invention. Taking the drone as an example, as shown in FIG. 1, the drone system includes a remote control device 10 and a drone 20, wherein the drone 20 includes a flight body 21, a pan/tilt head 22, and an imaging device 23. Among them, the pan/tilt head 22 and the image forming apparatus 23 are optional.

In the present embodiment, the flying body 21 includes a plurality of rotors 211 and a rotor motor 212 that drives the rotation of the rotor 211, thereby providing the power required for the drone 20 to fly. The imaging device 23 is mounted on the flying body 21 via the pan/tilt head 22. The imaging device 23 is used for image or video capture during flight of the drone 20, including but not limited to multi-spectral imagers, hyperspectral imagers, visible light cameras, and infrared cameras. The pan/tilt head 22 is a multi-axis transmission and stabilization system including a plurality of rotating shafts 221 and a pan-tilt motor 222. The pan/tilt motor 222 compensates for the photographing angle of the imaging device 23 by adjusting the rotational angle of the rotational shaft 221, and prevents or reduces the shake of the imaging device 23 by setting an appropriate buffer mechanism. Of course, in other embodiments, the imaging device 23 can be mounted on the flying body 21 directly or by other means.

The remote control device 10 is provided with a plurality of function keys 11 (including function keys 112 and scroll wheels 111) and an antenna 13, and the remote control device 10 is controlled by the user and communicates with the drone 20 by wireless communication. Further, the flight process of the drone 20, the photographing process of the imaging device 23, or both are controlled. As shown in Fig. 2, Fig. 2 is a schematic block diagram of a remote control device in the first embodiment of the aircraft system of the present invention. The remote control device 10 of the present embodiment includes a collector 14, a processor 16, a memory 15, and a communication module 17, in addition to a plurality of function keys 11 (including function keys 112 and scroll wheels 111) and an antenna 13. The collector 14, the memory 15, and the communication module 17 are all coupled to the processor 16; at least two function keys 11 are coupled to the collector 14.

The collector 14 is configured to acquire the button states of the at least two function keys 11; the memory 15 is configured to store the operation instructions executed by the processor 16 and the preset candidate combination keys; and the communication module 16 is configured to send the control instructions generated by the processor 16. Further, the remote control device 10 generates a corresponding control command according to the state of the button. The control commands include, but are not limited to, a flight control command for controlling the flight state of the drone 20 (eg, position, altitude, direction, speed, attitude, etc.), and a shooting control command for controlling no The photographing state (for example, photographing angle, photographing time, and exposure parameters, etc.) of the imaging device 23 mounted on the human machine 20.

Referring to FIG. 3, FIG. 3 is a schematic flowchart of a first embodiment of an aircraft control method based on a remote control device according to the present invention. In this embodiment, a method for controlling a remote control device to a drone may include the following steps:

S101. Determine that a specific one of the at least two function keys is triggered.

The processor acquires the state of the button of at least two function keys through the collector, and determines whether a function key on the remote control device is triggered by using the button state. The specific function key may be any one of at least two function keys set on the remote control device. In this embodiment, after it is determined that a specific function key on the remote control device is triggered, the subsequent steps are continued. The specific function key may be a function key having an alternate function, that is, the specific function key may have a function of its own corresponding function, and may also be combined with other function keys having the multiplexed function keys on the remote control device; The function keys can also be combined with other function keys on the remote control device that do not have a multiplexed function key, and the combined key combination has a function different from that of the specific function key and other function keys. For example, the C1 key on the remote control device can also be combined with the C2 key in addition to its original function, wherein C2 can be a function key with an alternate function (can be combined with other function keys except the C1 key). Combining another combination key), it can also be a function key that does not have an alternate function (can only be combined with a C1 key to form a combination key); a function when the combination key formed by the C1 key and the C2 key is triggered, and a C1 key and a C2 key The original function keys are different and can be different from any other function keys on the remote control device.

It can be understood that a specific function key is not a fixed function key. In this embodiment, for a combination key composed of two or more function keys having an alternate function, the specific function key is the first. A function key that is triggered, for example, both the C1 key and the C2 key have an alternate function, and the C1 key and the C2 key can be combined to form a new combined key, and among the C1 key and the C2 key, the first triggered function key is For a specific function key. For a combination key composed of a function key having an alternate function and a function key having no alternate function, the function key having the alternate function is a specific function key.

In this embodiment, the user can trigger on at least two function keys on the remote control device by pressing, scrolling, touching or sliding. For example, the pan/tilt back button on the remote control device can be triggered by the user by pressing, and the function keys such as the scroll wheel on the remote control device are triggered by scrolling. Depending on the type of remote control device, the operation required for the corresponding trigger function key may be different. You need to set it according to the actual situation.

In this embodiment, the button state of the function key is acquired, and the button state of each function key on the remote control device is periodically patrolled one by one through the collector. The specific duration of the period is set according to actual requirements. Optionally, the duration of the period may be 14 milliseconds, 16 milliseconds, or 20 milliseconds. In this embodiment, the collector can confirm the currently detected function key when detecting the button state of each function key one by one, knowing which function key is currently detected, and when the processor receives the button sent by the collector In the state, it is also possible to obtain the button state of which button from the button state. In other embodiments, the collector can also patrol only the button state, but does not confirm which function key is detected. After the processor receives the button state sent by the collector, the processor further determines that the button state corresponds according to the button state. Function key.

S102. Determine whether other function keys in the specific combination key formed by the specific function key and other function keys are triggered.

After the processor determines that one of the at least two function keys on the remote control device is triggered, the control command corresponding to the specific function key is not immediately sent, but continues to determine whether other function keys on the remote control device are triggered. And whether other function keys that are triggered can form a specific combination key with the specific function key.

In this embodiment, a specific combination key does not refer to a specified combination key, but refers to a function key that can be separated from a specific function key on the remote control device by the specific function key after determining the specific function key. Any combination of keys. For example, if the specific function key is a C1 key, if the C1 key and the C2 key can form a combination key, the specific combination key in this embodiment refers to the combination key composed of the C1 key and the C2 key, and the other function keys are C2 key. In this embodiment, other function keys may also refer to multiple function keys. If the C1 key and the video key can also form a combination key, the specific combination key in this embodiment is a combination of C1 key and C2 key. A key or a combination of a C1 key and a video key, in which case the other function keys are For the C2 button or video button. If the C1 button, the C2 button, and the recording button can constitute a combination button, then the other function buttons include the C2 button and/or the recording button.

Further, referring to FIG. 4, step S102 may include the following steps:

S1021: Acquire a button state of a specific function key and other function keys.

When it is determined in step S101 that the specific function key on the remote control device is triggered, the button state of the specific function key is continuously acquired, and the state of the button of the other function key capable of forming the specific combination key with the specific function key is acquired, according to the specific The button states of the function keys and other function keys recognize the user's operation intention, determine whether the user wants to use the function of the specific function key itself, or want to use the multiplexing function of the specific function key.

In this embodiment, when the button state of the other function keys is acquired, since the collector can acquire which function key is detected by itself, after the specific function key is determined, the collector can be configured with the specific function key. The button states of other function keys of a particular combination key are detected, and the button states of the remaining function keys are no longer detected. In addition, the collector can also detect the button state of all the function keys, and then specifically send the button states of the other function keys to the processor. For example, on the remote control device, the C1 button and the C2 button form a combination button. When the C1 button is triggered, the collector continues to check the button state of the C1 button, and also detects the button state of the C2 button, and the remote device is removed. The button states of the function keys other than the C1 key and the C2 key are no longer detected; or after the collector detects the key state of all the function keys, only the button states of the C1 key and the C2 key are sent to the processor.

S1022: Determine whether other function keys are triggered according to key states of other function keys.

According to the state of the button of the other function keys received, the state of the button of the other function keys is judged to determine whether the other function keys are triggered by the user. According to the judgment of the state of the button of other function keys, the user's operation intention can be recognized. If the user triggers other function keys, the user may want to use the function of the specific combination key of the specific function key and other function keys to continue. Step S1023 is performed, otherwise, step S104 is executed, the second control instruction is sent, or the operation of the instruction transmission is not performed.

It can be understood that other function keys may only include one function key or multiple function keys; and when other function keys include multiple function keys, each of the multiple function keys may be separately associated with a specific function key. A specific combination key may be formed, or some of the plurality of function keys and a specific function key form a specific combination key, and the other part of the function key and the specific function key constitute another specific combination key. Therefore, when it is determined whether other function keys are triggered, it is determined that one or more other function keys that are triggered can form a specific combination key with the specific function keys. It is worth noting that when two or more specific combination keys are repeated, some other function keys are repeated, and it is necessary to continue to judge the state of the keys of other function keys; For example, the C1 key is a specific function key, the C1 key and the C2 key can constitute a specific combination key, and the C1 key, the C2 key, and the video key can constitute another specific combination key, and when it is detected that the C2 key is triggered, it is required Continue to judge the button status of the recording button to determine whether the recording button is triggered.

S1023: Determine whether a trigger state of the specific function key changes according to a button state of the specific function key.

When it is judged whether or not other function keys capable of forming a specific combination key with a specific function key are triggered, it is also necessary to continuously judge the key state of the specific function key, thereby more accurately recognizing the user's operation intention. If the trigger state of a specific function key changes during the process of determining whether other function keys are triggered, indicating that the user does not trigger a specific function key in the middle, the user may only want to use the function of the specific function key, or may operate by mistake. At this time, step S104 is executed, the second control instruction is transmitted, or the operation of the instruction transmission is not performed.

In this embodiment, step S1022 and step S1023 are simultaneously executed, that is, according to the state of the button for acquiring a specific function key and other function keys, that is, whether the trigger state of the specific function key changes, and whether other function keys are triggered. Make a judgment. It should be noted that a sequential execution manner may also be adopted between step S1022 and step S1023.

S1024. Steps of determining whether other function keys in the specific combination key formed by the specific function key and other function keys are triggered.

If the trigger status of a specific function key changes, the user no longer triggers the specific function key. In this case, the user may only use the function of the specific function key or the wrong operation, and the trigger state of the specific function key occurs. After the change, whether the other function keys are triggered or not, it is determined that the other function keys are not triggered. At this time, the judgment of whether the other function keys are triggered is ended, and step S104 is executed to send the second control instruction or not to execute the instruction transmission. operating.

S1025. Perform a step of acquiring a button state of a specific function key and other function keys.

If the trigger state of a specific function key does not change, it means that the user continuously triggers the specific function key, then the multiplexing function of the specific function key is enabled, and the button state of the specific function key and other function keys is continuously obtained, and the specific function key is continuously determined. And whether the other function keys are triggered until it is determined that the specific function key and the other function keys are triggered, it is determined that the specific combination key of the specific function key and the other function keys is triggered, and then the step S103 is executed to send the first control instruction.

For example, the C1 key and the C2 key can form a specific combination key, and the C1 key is a specific combination key. When it is determined that the C1 key is triggered, the button state of the C2 key is acquired, and the button state of the C1 key is continuously obtained, and the trigger of the C1 key is judged. Whether the status has changed and whether the C2 key is triggered. If the trigger of the C1 key The state has changed. Whether the C2 key is triggered or not, the judgment of the button state of the C2 key is ended. If the trigger state of the C1 key does not change, the state of the button of the C1 key and the C2 key is continuously judged until the judgment is made. As a result, the C1 key and the C2 key are simultaneously triggered.

Further, referring to FIG. 5, step S102 may further include the following steps:

S1026: Determine whether a duration of the step of whether the other function key of the specific combination key formed by the specific function key and the other function key is triggered is greater than or equal to the second preset time.

In this embodiment, when step S102 is performed, the duration of step S102 is determined, that is, whether other function keys are triggered during the second preset time, or whether the trigger state of the specific function key changes. Specifically, according to the state of the button of the specific function key and other function keys acquired in a certain cycle, it is determined whether the trigger state of the specific function key changes, and/or whether other function keys are triggered, if the trigger state of the specific function key is not Changes occur, and other function keys are not triggered. Continue to determine whether the trigger status of the specific function key changes according to the specific function keys and other function key keys acquired in the next cycle, and whether other function keys are triggered, and thus cycle And record the duration of the process until the duration of the record is greater than or equal to the second preset time. In the meantime, whether the step S1027 or the step S1028 is performed is selected depending on whether the step of the step of whether the other function keys are triggered is greater than or equal to the second preset time.

In this embodiment, the duration of the second preset time may be 1 second, 2 seconds, or 3 seconds, which is not specifically limited in the present invention.

S1027: End step of determining whether other function keys in the specific combination key formed by the specific function key and the other function keys are triggered.

If the result of the step S1026 is that the duration of the step of determining whether the other function keys are triggered is greater than or equal to the second preset time, it means that the user does not trigger other function keys in the second preset time, or If the specific function key is no longer triggered within the set time, it is determined that the other function keys are not triggered. At this time, the specific function key and other function keys cannot form a specific combination key, and the trigger of the specific function key may be an erroneous operation, and the end is A determination is made as to whether the other function keys are triggered. At this time, step S104 is subsequently performed, and the second control instruction is not transmitted or the instruction transmission operation is not performed.

S1028. Steps of performing a button state of acquiring a specific function key and other function keys.

If the result of the step S1026 is that the duration of the step of determining the other function keys is less than the second preset time, it indicates that the other function keys are triggered during the second preset time, and at this time, the specific function keys and other functions are continuously acquired. The key state of the key returns to step S1021 to further determine whether the trigger state of the specific function key is still changed, or whether the key state of the other function key changes until it is determined. When the specific function key and other function keys are triggered, step S103 is executed to send the first control instruction.

S103. Send a first control instruction.

If the result of the determination in step S102 is that other function keys of the remaining function keys on the remote control device capable of forming a specific combination key with the specific function keys are triggered, the remote control device transmits the first control command.

In this embodiment, the first control instruction is a control instruction corresponding to the specific combination key, and is different from the control instruction corresponding to any one of the specific combination keys. The remote control device sends the first control command to the drone through its own communication module, so that the drone performs corresponding operations according to the first control instruction, and ends the process until the drone is in accordance with the first control command After the operation is performed, it is determined again that the specific function key on the remote control device is triggered, and the above-described steps S101 and S102 are repeated.

S104. Send a second control instruction or do not perform an instruction sending operation.

If the result of the determination in step S102 is that the other function keys of the remaining function keys on the remote control device capable of forming a specific combination key with the specific function key are not triggered, the remote control device transmits the second control instruction; or determines the specific function key. The trigger is a false trigger, the operation of the transmission execution is not performed, and the flow is ended until it is determined again that the specific function key on the remote control device is triggered, and the above-described steps S101 and S102 are repeated.

In this embodiment, the second control instruction is a control instruction corresponding to the specific function key, and the remote control device sends the second control instruction to the drone through its own communication module, so that the drone performs corresponding according to the second control instruction. operating.

In other embodiments, the aircraft system may further include a mobile device 30. As shown in FIG. 6, the remote control device 10 can be connected to the mobile device 30, wherein the remote control device 10 and the mobile device 30 can be wirelessly connected or Wired connection; at this time, the first control instruction and the second control instruction may be control instructions executed by the mobile device 30. At this time, when transmitting the first control command or the second control command, the remote control device 10 determines the first control command or the second control command, and determines that the first control command or the second control command is executed by the drone 20 The control command is also a control command executed by the mobile device 30 connected to the remote control device 10; if the first control command or the second control command is a control command executed by the drone 20, the remote control device 10 transmits the first to the drone 20 A control command or a second control command; if the first control command or the second control command is a control command executed by the mobile device 30, the remote control device 10 transmits a first control command or a second control command to the mobile device 30.

Moreover, in another embodiment, the mobile device 30 can determine the control commands sent by the remote control device 10 to generate control commands for controlling the drone 20. At this point, the first control instruction and the first The second control command may be a control command for the mobile device 30 to generate a third control command and a fourth control command for controlling the aircraft. At this time, the remote control device 10 sends the first control command or the second control command to the mobile device 30, and the mobile device 30 determines the first control command or the second control command, and determines that the first control command or the second control command is by itself. The executed control command is also a control command executed by the drone 20, and if it is a control command executed by itself, the corresponding operation is performed according to the first control command or the second control command; if the control command is executed by the drone 20, The first control command or the second control command further generates a third control command or a fourth control command for controlling the drone 20, and further transmits the third control command or the fourth control command to the drone 20. The third control instruction may be the same as the first control instruction, and the fourth control instruction may be the same as the second control instruction. In this embodiment, the mobile device 30 may directly send the third control command or the fourth control command to the drone 20, or may first send the third control command or the fourth control command to the remote control device 10, and then the remote control device. 10 transmits the third control command or the fourth control command to the drone 20.

In this embodiment, after the specific function key is triggered, it is further determined whether a specific combination key composed of the specific function key and other function keys on the remote control device is triggered, and when the specific combination key is triggered, the specific combination key is sent. The control instruction or the instruction transmission operation is not performed, which avoids the case where the instruction is sent incorrectly when the specific function key is multiplexed, and the accuracy of the transmitted control instruction is improved.

Further, referring to FIG. 7, FIG. 7 is a schematic flowchart of a second embodiment of an aircraft control method based on a remote control device according to the present invention, wherein the embodiment is based on the first embodiment of the control method shown in FIG. 3 to FIG. The improvement is obtained. As shown in FIG. 7, the embodiment may further include the following steps after step S101 shown in FIG. 3:

S105. Determine whether a duration when the specific function key is triggered is greater than or equal to the first preset time.

When the user uses the multiplexing function of a specific function key, the user's operation intention can be judged by the trigger state of the specific function key. If the time when the user triggers the specific function key is too short, the user can only think that the user only wants to trigger a specific function. The function of the key itself or the false trigger of the user is determined based on the duration of the trigger of the specific function key, and step S106 or step S107 is selected according to the result of the determination.

After determining that a specific function key is triggered, the button state of the specific function key is continuously acquired, and the duration of the trigger of the specific function key, in other words, the trigger state of the specific function key is judged. If the duration of the specific function key being triggered is greater than or equal to the first preset time, it means that the user long presses the specific function key to enable the multiplexing function of the specific function key.

In this embodiment, the duration of the first preset time may be 1 second, 2 seconds, or 3 seconds, and the present invention does not Body definition.

S106. Perform a step of determining whether other function keys in the specific combination key formed by the specific function key and other function keys are triggered.

If the result of the determination in step S105 is that the duration of the triggering of the specific function key is greater than or equal to the first preset time, it indicates that the trigger state of the specific function key has not changed during the first preset time, in other words, the user is long. Pressing or continuously triggering the specific function key, at this time, the multiplexing function of the specific function key is enabled, and the step S102 is continued to determine whether the other function keys capable of forming the specific combination key with the specific function key are triggered, and then according to the judgment result. Step S103 or step S104 is selected, which is the same as step S102 shown in FIG. 3 to FIG. 5, and details are not described herein again.

S107. Send a third control instruction or do not perform an instruction sending operation.

If the result of the determination in step S105 is that the duration of the triggering of the specific function key is less than the first preset time, it indicates that the trigger state of the specific function key changes during the first preset time, in other words, in the first preset time. If the button state of the specific function key changes to the untriggered state, the user may trigger the specific function key for the first time, and the command transmission operation is not performed. In addition, if a third control command corresponding to the triggered duration is set, the corresponding third control command may be sent according to the duration when the specific function key is triggered, and the process is terminated until the determination is made again. The specific function key on the remote control device is triggered, and the above steps S101 and S102 are repeated. The third control instruction may be the same as the second control instruction.

Further, referring to FIG. 8, FIG. 8 is a schematic flowchart of a third embodiment of an aircraft control method based on a remote control device according to the present invention, wherein the embodiment is based on the first embodiment of the control method shown in FIG. 3 to FIG. The improvement is obtained. As shown in FIG. 8, the embodiment may further include the following steps after step S101 shown in FIG. 3:

S108. Determine whether a preset function key is included in the preset at least one candidate combination key.

On the remote control device, not every function key has an alternate function. After a specific function key is triggered, whether the specific function key has an alternate function can be judged, and whether the specific function key has an alternate function or not is selected. Step S109 or step S110 is subsequently performed.

In this embodiment, the search is performed in the preset at least one candidate combination key, and whether the specific function key has the multiplexing function is determined by determining whether the combination key including the specific function key can be found. The at least one candidate combination key is a candidate combination key that is preset to customize each function key on the remote control device, and the at least one candidate combination key is pre-stored in the remote control device in the form of a list, and combined with the at least one candidate. The control commands corresponding to the keys are also stored in the list, and can be passed from the candidate. Find a specific combination key in the key combination to determine the control instruction of the specific combination key.

S109: A candidate combination key including a specific function key is used as a specific combination key, and a step of determining whether another function key of the specific combination key formed by the specific function key and the other function key is triggered is performed.

If the result of the determination in step S108 is that the specific combination key is included in the candidate combination key, and the specific function key has the multiplexing function, proceeding to step S102, determining whether other function keys capable of forming the specific combination key with the specific function key are The triggered step is the same as step S102 shown in FIG. 3 to FIG. 5, and details are not described herein again.

S110. Perform a step of transmitting a second control instruction or not performing an instruction transmission operation.

If the result of the determination in step S108 is that the specific function key is not included in the candidate combination key, it means that the specific function key and any remaining function keys on the remote control device except the specific function key cannot form a combination key, that is, no If it is required to determine the state of the button of the remaining function keys other than the specific function key on the remote control device, step S104 shown in FIG. 3 to FIG. 5 may be executed, and the second control instruction or the non-execution command sending operation may be performed, and The process is terminated until it is determined again that the specific function key on the remote control device is triggered, and the above-described steps S101 and S102 are repeated.

Further, referring to FIG. 9, FIG. 9 is a schematic flowchart of a fourth embodiment of an aircraft control method based on a remote control device according to the present invention, wherein the embodiment is based on the first embodiment of the control method shown in FIG. 3 to FIG. The improvement is obtained. As shown in FIG. 9, the embodiment may further include the following steps after step S102 shown in FIG. 3:

S130. Determine whether a duration of the specific function key and other function keys being triggered at the same time is greater than or equal to a third preset time.

Step S102 determines whether a specific function key and other function keys are triggered at the same time, but when a specific function key and other function keys are simultaneously triggered, the user may also change the button state of the specific function key and/or other function keys, if At this time, the first control command corresponding to the specific combination key composed by the specific function key and other function keys is still sent, and the instruction transmission error may occur. Therefore, in this embodiment, after determining that the specific function key and other function keys are triggered at the same time in step S102, it is further determined that the duration of the specific function key and the other function keys are triggered at the same time, in other words, in the third preset time, Whether the trigger state of the specific function key and the other function key changes, and step S140 or step S150 is selected according to the determination result.

In this embodiment, the duration of the third preset time may be 1 second, 2 seconds, or 3 seconds, which is not specifically limited in the present invention.

S140. Send a first control instruction.

If the result of the determination in step S130 is that the duration of the specific function key and the other function keys being triggered at the same time is greater than or equal to the third preset time, the trigger state of the specific function key and other function keys does not change during the third preset time. Determining a specific combination key composed of a specific function key and other function keys, transmitting a first control instruction corresponding to the specific combination key, and ending the process until it is determined that a specific function key on the remote control device is triggered, repeating the above steps S101 and step S102.

S150. Perform sending a second control instruction or not performing an instruction sending operation.

If the result of the determination in step S130 is that the duration of the specific function key and other function keys being triggered at the same time is less than the third preset time, it means that the specific function key and/or other function keys are no longer If the trigger is triggered by the user's erroneous operation, the second control command corresponding to the specific function key is sent; or the trigger of the specific function key and other function keys is considered to be a user's erroneous operation, and the instruction is not executed. The operation is sent, and the process is terminated until it is determined again that the specific function key on the remote control device is triggered, and the above-described steps S101 and S102 are repeated.

Further, the second embodiment, the third embodiment, and the fourth embodiment of the aircraft control method shown in FIG. 7 to FIG. 9 can be combined with each other to form a new embodiment, and the content of the corresponding step is performed as shown in FIGS. 7 to 9. The second embodiment, the third embodiment and the fourth embodiment of the aircraft control method are the same, and are not described herein again.

Further, in another embodiment, the aircraft system may further include a mobile device 30 through which control execution can be sent to the drone 20, the aircraft system in this embodiment and the aircraft system shown in FIG. The second embodiment is the same, referring to FIG. 10, different from the second embodiment of the aircraft system, the mobile device 30 in the present embodiment includes a processor 31, a memory 32 and a communication module 33; the communication module 33 and the memory 32 are both connected to the processor 3. The communication module 33 is configured to send a control instruction to the drone 20 or the remote control device 10 connected to the mobile device 30, and receive a button state of at least two function keys 11 set on the remote control device 10 transmitted by the remote control device 10.

In this embodiment, the remote control device 10 transmits the button state of each function key 11 on the remote control device 10 acquired by the collector 14 to the mobile device 30 through its own communication module 17. The communication module 33 of the mobile device 30 receives the button state sent by the remote device 10, and transmits the received button state to the processor 31, and the processor 31 uses the button state of each function key sent by the remote device 10; The state of the button determines that a specific function key is triggered; determines whether another function key of the specific combination key formed by the specific function key and other function keys is triggered; if the other function key is triggered, sends the first control instruction; otherwise, sends the first The second control instruction or the non-execution instruction transmission operation.

Further, the mobile device 30 can perform the first method of the aircraft control method as shown in FIGS. 3 to 8. For the detailed description of each step in the embodiment, the second embodiment, the third embodiment, and/or the fourth embodiment, refer to the description of the steps corresponding to FIG. 3 to FIG. 8 , and details are not described herein again. It should be noted that since the first control instruction and the second control instruction in this embodiment are both generated by the mobile device 30 according to the received button state, in other words, the mobile device 30 generates the first control command or the second control. When the instruction is executed, it can be known that the first control instruction or the second control instruction is executed by itself or by the aircraft, and the third control instruction and the fourth control instruction are not required to be generated according to the first control instruction and the second control instruction.

Further, the present invention also discloses a remote control device for controlling an aircraft, the remote control device having the same structure as the remote control device shown in FIG. 2, which is used to implement the remote control device-based aircraft shown in FIGS. 3 to 7. Control method, please refer to Figure 3 to Figure 8 and the corresponding step description for details.

Further, the present invention also discloses a storage device in which program data is stored, which can be executed to implement the first embodiment, the second embodiment, and the third embodiment of the aircraft control method shown in FIGS. 3 to 7. For an embodiment and/or a fourth embodiment, please refer to FIG. 3 to FIG. 8 and corresponding step descriptions for detailed description.

The above is only the embodiment of the present invention, and is not intended to limit the scope of the invention, and the equivalent structure or equivalent process transformation made by the specification and the drawings of the present invention may be directly or indirectly applied to other related technical fields. The same is included in the scope of patent protection of the present invention.

Claims (42)

An aircraft control method based on a remote control device, wherein at least two function keys are disposed on the remote control device, and the control method includes: Determining that a specific one of the at least two function keys is triggered; Determining whether the other function keys in the specific combination key formed by the specific function key and other function keys are triggered; Sending a first control instruction if the other function key is triggered; Otherwise, the second control instruction is sent or the instruction transmission operation is not performed. The control method according to claim 1, wherein after the determining that the specific one of the at least two function keys is triggered, the method further comprises: Determining whether a duration in which the specific function key is triggered is greater than or equal to a first preset time; If it is greater than or equal to the first preset time, performing the step of determining whether the other function key in the specific combination key formed by the specific function key and other function keys is triggered; Otherwise, the third control instruction is sent or the instruction transmission operation is not performed. The control method according to claim 1, wherein the step of determining whether the other function key of the specific combination key formed by the specific function key and other function keys is triggered comprises: Obtaining a button state of the specific function key and the other function key; Determining whether the other function keys are triggered according to a button state of the other function keys; Determining whether a trigger state of the specific function key changes according to a button state of the specific function key; If a change occurs, determining that the other function key is not triggered, and ending the step of determining whether the other function key of the specific combination key formed by the specific function key and other function keys is triggered; Otherwise, the step of acquiring the state of the button of the specific function key and the other function key is further performed. The control method according to claim 3, wherein the step of determining whether the other function key of the specific combination key formed by the specific function key and the other function keys is triggered further comprises: Determining whether a duration of the step of whether the other function key of the specific combination key formed by the specific function key and the other function key is triggered is greater than or equal to a second preset time; If it is greater than or equal to the second preset time, determining that the other function keys are not triggered, and ending the determining whether the other function keys in the specific combination key formed by the specific function key and other function keys are triggered A step of; Otherwise, the step of acquiring the state of the button of the specific function key and the other function key is further performed. The control method according to claim 1, wherein after the determining that the specific one of the at least two function keys is triggered, the method further comprises: Determining whether the specific function key is included in the preset at least one candidate combination key; If the specific function key is included, the candidate combination key including the specific function key is used as the specific combination key, and the specific combination key formed by determining the specific function key and other function keys is performed. a step of whether the other function key is triggered; Otherwise, the step of transmitting the second control instruction or not performing the instruction transmission operation is performed. The control method according to claim 5, wherein the candidate combination key and the corresponding control instruction are pre-stored in a list form. The control method according to claim 1, wherein if the other function key is triggered, the step of transmitting the first control instruction comprises: Determining whether a duration in which the specific function key and the other function key are triggered simultaneously is greater than or equal to a third preset time; If the third preset time is greater than or equal to, the first control instruction is sent; Otherwise, the transmitting of the second control instruction or the execution of the instruction transmission operation is performed. The control method according to claim 1, wherein if the other function key is triggered, the step of transmitting the first control instruction comprises: Determining whether the first control instruction is a control instruction executed by the aircraft or a control instruction executed by a mobile device connected to the remote control device; Sending the first control instruction to the aircraft if the first control instruction is a control instruction executed by the aircraft; And if the first control instruction is a control instruction executed by the mobile device, transmitting the first control instruction to the mobile device. The control method according to claim 1, wherein the step of transmitting the second control instruction or not performing the instruction transmission operation comprises: Determining whether the second control instruction is a control command executed by the aircraft or by the remote control Control instructions executed by the mobile device to which the device is connected; Sending the second control instruction to the aircraft if the second control instruction is a control instruction executed by the aircraft; And if the second control instruction is a control instruction executed by the mobile device, transmitting the second control instruction to the mobile device. The control method according to claim 1, wherein if the other function key is triggered, the step of transmitting the first control instruction comprises: Transmitting the first control instruction to a mobile device connected to the remote control device to cause the mobile device to generate a third control command according to the first control instruction, wherein the third control command is used to control the aircraft Perform the appropriate action. The control method according to claim 10, wherein the step of transmitting the second control instruction or not the instruction transmission operation comprises: Transmitting the second control instruction to a mobile device connected to the remote control device to cause the mobile device to generate a fourth control command according to the second control instruction, wherein the fourth control command is used to control the aircraft Perform the appropriate action. The control method according to claim 1, wherein the first control instruction and the second control instruction are respectively obtained by a look-up table according to the specific combination key and the specific function key. A mobile device-based aircraft control method, comprising: Receiving, by the remote control device connected to the mobile device, a button state of at least two function keys set on the remote control device; Determining, by using the button state, that a specific one of the at least two function keys is triggered; Determining whether the other function keys in the specific combination key formed by the specific function key and other function keys are triggered; Sending a first control instruction if the other function key is triggered; Otherwise, the second control instruction is sent or the instruction transmission operation is not performed. The control method according to claim 13, wherein after the determining that the specific one of the at least two function keys is triggered, the method further comprises: Determining whether a duration in which the specific function key is triggered is greater than or equal to a first preset time; If it is greater than or equal to the first preset time, performing the step of determining whether the other function key in the specific combination key formed by the specific function key and other function keys is triggered; Otherwise, the third control instruction is sent or the instruction transmission operation is not performed. The control method according to claim 13, wherein the step of determining whether the other function key of the specific combination key formed by the specific function key and other function keys is triggered comprises: Obtaining a button state of the specific function key and the other function key; Determining whether the other function keys are triggered according to a button state of the other function keys; Determining whether a trigger state of the specific function key changes according to a button state of the specific function key; If a change occurs, determining that the other function key is not triggered, and ending the step of determining whether the other function key of the specific combination key formed by the specific function key and other function keys is triggered; Otherwise, the step of acquiring the state of the button of the specific function key and the other function key is further performed. The control method according to claim 15, wherein the step of determining whether the other function key of the specific combination key formed by the specific function key and the other function keys is triggered further comprises: Determining whether a duration of the step of whether the other function key of the specific combination key formed by the specific function key and the other function key is triggered is greater than or equal to a second preset time; If it is greater than or equal to the second preset time, determining that the other function keys are not triggered, and ending the determining whether the other function keys in the specific combination key formed by the specific function key and other function keys are triggered A step of; Otherwise, the step of acquiring the state of the button of the specific function key and the other function key is further performed. The control method according to claim 13, wherein after the determining that the specific one of the at least two function keys is triggered, the method further comprises: Determining whether the specific function key is included in the preset at least one candidate combination key; If the specific function key is included, the candidate combination key including the specific function key is used as the specific combination key, and the specific combination key formed by determining the specific function key and other function keys is performed. a step of whether the other function key is triggered; Otherwise, the step of transmitting the second control instruction or not performing the instruction transmission operation is performed. The control method according to claim 17, wherein the candidate combination key and the corresponding control instruction are pre-stored in a list form. The control method according to claim 13, wherein said other function The key is triggered, and the step of sending the first control instruction includes: Determining whether a duration in which the specific function key and the other function key are triggered simultaneously is greater than or equal to a third preset time; If the third preset time is greater than or equal to, the first control instruction is sent; Otherwise, the transmitting of the second control instruction or the execution of the instruction transmission operation is performed. The control method according to claim 13, wherein if the other function key is triggered, the step of transmitting the first control instruction comprises: Determining whether the first control instruction is a control instruction executed by the aircraft or a control instruction executed by a mobile device connected to the remote control device; Sending the first control instruction to the aircraft if the first control instruction is a control instruction executed by the aircraft; And if the first control instruction is a control instruction executed by the mobile device, transmitting the first control instruction to the mobile device. The control method according to claim 13, wherein the step of transmitting the second control instruction or not performing the instruction transmission operation comprises: Determining whether the second control instruction is a control instruction executed by the aircraft or a control instruction executed by a mobile device connected to the remote control device; Sending the second control instruction to the aircraft if the second control instruction is a control instruction executed by the aircraft; And if the second control instruction is a control instruction executed by the mobile device, transmitting the second control instruction to the mobile device. A remote control device for controlling an aircraft, characterized in that the remote control device comprises at least two function keys, a collector, a processor, a memory and a communication module; The collector, the memory, and the communication module are all coupled to the processor; the at least two function keys are coupled to the collector; The collector is configured to acquire a button state of the at least two function keys; The memory is configured to store an operation instruction executed by the processor and a preset candidate combination key; The communication module is configured to send a control instruction; The processor is configured to: perform the following actions according to an operation instruction stored in the memory: Determining that a specific one of the at least two function keys is triggered; Determining the other function keys in the specific combination key formed by the specific function key and other function keys Whether it is triggered; Sending a first control instruction if the other function key is triggered; Otherwise, the second control instruction is sent or the instruction transmission operation is not performed. The remote control device according to claim 22, wherein the processor is further configured to: Determining whether a duration in which the specific function key is triggered is greater than or equal to a first preset time; If it is greater than or equal to the first preset time, performing the step of determining whether the other function key in the specific combination key formed by the specific function key and other function keys is triggered; Otherwise, the third control instruction is sent or the instruction transmission operation is not performed. The remote control device according to claim 22, wherein the step of determining whether the other one of the specific combination keys formed by the specific function key and the other function keys is triggered by the processor comprises: : Obtaining a button state of the specific function key and the other function key; Determining whether the other function keys are triggered according to a button state of the other function keys; Determining whether a trigger state of the specific function key changes according to a button state of the specific function key; If a change occurs, determining that the other function key is not triggered, and ending the step of determining whether the other function key of the specific combination key formed by the specific function key and other function keys is triggered; Otherwise, the step of acquiring the state of the button of the specific function key and the other function key is further performed. The remote control device according to claim 24, wherein the step of determining, by the processor, whether the other function key among the specific combination keys formed by the specific function key and other function keys is triggered is further include: Determining whether a duration of the step of whether the other function key of the specific combination key formed by the specific function key and the other function key is triggered is greater than or equal to a second preset time; If it is greater than or equal to the second preset time, determining that the other function keys are not triggered, and ending the determining whether the other function keys in the specific combination key formed by the specific function key and other function keys are triggered A step of; Otherwise, the step of acquiring the state of the button of the specific function key and the other function key is further performed. The remote control device according to claim 22, wherein said processor is further configured to perform Row: Determining whether the specific function key is included in the preset at least one candidate combination key; If the specific function key is included, the candidate combination key including the specific function key is used as the specific combination key, and the specific combination key formed by determining the specific function key and other function keys is performed. a step of whether the other function key is triggered; Otherwise, the step of transmitting the second control instruction or not performing the instruction transmission operation is performed. The remote control device according to claim 26, wherein said candidate combination keys and corresponding control commands are pre-stored in a list form. The remote control device according to claim 22, wherein the step of transmitting the first control command if the other function key executed by the processor is triggered comprises: Determining whether a duration in which the specific function key and the other function key are triggered simultaneously is greater than or equal to a third preset time; If the third preset time is greater than or equal to, the first control instruction is sent; Otherwise, the transmitting of the second control instruction or the execution of the instruction transmission operation is performed. The remote control device according to claim 22, wherein the step of transmitting the first control command if the other function key executed by the processor is triggered comprises: Determining whether the first control instruction is a control instruction executed by the aircraft or a control instruction executed by a mobile device connected to the remote control device; Sending the first control instruction to the aircraft if the first control instruction is a control instruction executed by the aircraft; And if the first control instruction is a control instruction executed by the mobile device, transmitting the first control instruction to the mobile device. The remote control device according to claim 22, wherein the step of the processor executing the second control instruction or not performing the instruction transmission operation comprises: Determining whether the second control instruction is a control instruction executed by the aircraft or a control instruction executed by a mobile device connected to the remote control device; Sending the second control instruction to the aircraft if the second control instruction is a control instruction executed by the aircraft; And if the second control instruction is a control instruction executed by the mobile device, transmitting the second control instruction to the mobile device. A remote control device according to claim 22, wherein said processor executes If the other function keys are triggered, the step of transmitting the first control instruction includes: Transmitting the first control instruction to a mobile device connected to the remote control device to cause the mobile device to generate a third control command according to the first control instruction, wherein the third control command is used to control the aircraft Perform the appropriate action. The remote control device according to claim 31, wherein the step of the processor executing the second control instruction or not performing the instruction transmission operation comprises: Transmitting the second control instruction to a mobile device connected to the remote control device to cause the mobile device to generate a fourth control command according to the second control instruction, wherein the fourth control command is used to control the aircraft Perform the appropriate action. The remote control device according to claim 22, wherein the first control instruction and the second control instruction are respectively obtained by a look-up table according to the specific combination key and the specific function key. A mobile device for controlling an aircraft, characterized in that the mobile device comprises a processor, a memory and a communication module; The processor and the memory are both coupled to the processor; The communication module is configured to send a control instruction to the aircraft or a remote control device connected to the mobile device, and receive a button state of at least two function keys set on the remote control device sent by the remote control device; The processor is configured to: receive a button state of at least two function keys set on the remote control device sent by a remote control device connected to the mobile device; Determining, by using the button state, that a specific one of the at least two function keys is triggered; Determining whether the other function keys in the specific combination key formed by the specific function key and other function keys are triggered; Sending a first control instruction if the other function key is triggered; Otherwise, the second control instruction is sent or the instruction transmission operation is not performed. The mobile device of claim 34, wherein the processor is further configured to: Determining whether a duration in which the specific function key is triggered is greater than or equal to a first preset time; If it is greater than or equal to the first preset time, performing the step of determining whether the other function key in the specific combination key formed by the specific function key and other function keys is triggered; Otherwise, the third control instruction is sent or the instruction transmission operation is not performed. The mobile device according to claim 34, wherein the step of determining, by the processor, whether the other function key of the specific combination key formed by the specific function key and other function keys is triggered comprises: : Obtaining a button state of the specific function key and the other function key; Determining whether the other function keys are triggered according to a button state of the other function keys; Determining whether a trigger state of the specific function key changes according to a button state of the specific function key; If a change occurs, determining that the other function key is not triggered, and ending the step of determining whether the other function key of the specific combination key formed by the specific function key and other function keys is triggered; Otherwise, the step of acquiring the state of the button of the specific function key and the other function key is further performed. The mobile device according to claim 34, wherein said step of said processor executing said determining whether said other one of said specific function key and said other function key formed by said other function key is triggered is further include: Determining whether a duration of the step of whether the other function key of the specific combination key formed by the specific function key and the other function key is triggered is greater than or equal to a second preset time; If it is greater than or equal to the second preset time, determining that the other function keys are not triggered, and ending the determining whether the other function keys in the specific combination key formed by the specific function key and other function keys are triggered A step of; Otherwise, the step of acquiring the state of the button of the specific function key and the other function key is further performed. The mobile device of claim 34, wherein the processing is further for performing: Determining whether the specific function key is included in the preset at least one candidate combination key; If the specific function key is included, the candidate combination key including the specific function key is used as the specific combination key, and the specific combination key formed by determining the specific function key and other function keys is performed. a step of whether the other function key is triggered; Otherwise, the step of transmitting the second control instruction or not performing the instruction transmission operation is performed. The mobile device of claim 38, wherein the candidate combination keys and corresponding control instructions are pre-stored in a list form. The mobile device according to claim 34, wherein the step of transmitting the first control instruction if the other function key executed by the processor is triggered comprises: Determining whether a duration in which the specific function key and the other function key are triggered simultaneously is greater than or equal to a third preset time; If the third preset time is greater than or equal to, the first control instruction is sent; Otherwise, the transmitting of the second control instruction or the execution of the instruction transmission operation is performed. The mobile device according to claim 34, wherein the step of transmitting the first control instruction if the other function key executed by the processor is triggered comprises: Determining whether the first control instruction is a control instruction executed by the aircraft or a control instruction executed by a mobile device connected to the remote control device; Sending the first control instruction to the aircraft if the first control instruction is a control instruction executed by the aircraft; And if the first control instruction is a control instruction executed by the mobile device, transmitting the first control instruction to the mobile device. The mobile device according to claim 34, wherein the step of the processor executing the second control instruction or not performing the instruction transmission operation comprises: Determining whether the second control instruction is a control instruction executed by the aircraft or a control instruction executed by a mobile device connected to the remote control device; Sending the second control instruction to the aircraft if the second control instruction is a control instruction executed by the aircraft; And if the second control instruction is a control instruction executed by the mobile device, transmitting the second control instruction to the mobile device.

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