CN109891371A

CN109891371A - Control method, remote control equipment and the mobile device of aircraft

Info

Publication number: CN109891371A
Application number: CN201780067449.1A
Authority: CN
Inventors: 钟晓航
Original assignee: SZ DJI Technology Co Ltd
Current assignee: SZ DJI Technology Co Ltd
Priority date: 2017-04-21
Filing date: 2017-04-21
Publication date: 2019-06-14
Also published as: WO2018191927A1

Abstract

A kind of control method of aircraft, remote control equipment and mobile device, including, by determining that the special function keys at least two function keys are triggered (S101), further judge whether the other function key in special function keys and the specific combination key that other function key is constituted is triggered (S102)；If the other function key is triggered, the first control instruction (S103) is sent；Otherwise, it sends the second control instruction or does not execute instruction transmission operation (S104).The control method avoids improving the accuracy for sending control instruction since the situation for causing instruction to send mistake the misjudgment that user is intended to occurs when special function keys are multiplexed.

Description

Control method, remote control equipment and the mobile device of aircraft

[technical field]

The present embodiments relate to the control method of vehicle technology field more particularly to aircraft, remote control equipment and mobile devices.

[background technique]

Currently, unpiloted movable body, including aircraft (such as fixed wing aircraft, rotor craft include helicopter) motor vehicles, submarine or ship, and satellite space station or airship etc. are widely used, such as in fields such as detecting, search and rescue.The manipulation of these movable bodies is usually realized by user by remote control equipment.Several function keys are usually provided on remote control equipment, each function key has its corresponding control instruction, corresponding control instruction is sent to the movable bodies such as aircraft by triggering these function bond energys, to control the movement of movable body.

Size by remote control equipment, each factor such as the assembling of user's use habit and remote control equipment, the quantity of function key on remote control equipment has certain restrictions, function key quantity on remote control equipment cannot ceaselessly increase, but the increase of development and user demand with flight control technique, it is more and more to the Control Cooling of the movable bodies such as aircraft, only the limited function key on remote control equipment is unable to meet demand, and then the partial function key on remote control equipment must be made to have the function of multiplexing, for example enable two or more function keys that can trigger new control instruction.

In the prior art, after judging that the function key is triggered by the key-press status to the function key on remote control equipment, that is, corresponding control instruction is sent to aircraft.If what user wanted to send is the control instruction of the Macintosh of the function key and other function key composition, when user triggers the function key, remote control equipment can not judge the true intention of user, and directly transmit the control instruction of the function key, cause faulty operation.

[summary of the invention]

The control method for being designed to provide aircraft, remote control equipment and the mobile device of the embodiment of the present invention, can be improved the accuracy of the control instruction of transmission.

To achieve the above object, the embodiment of the present invention provides a kind of flying vehicles control method based on remote control equipment, wherein at least two function keys is provided on remote control equipment, which includes:

Determine that the special function keys at least two function key are triggered；

Judge the other function key in the special function keys and the specific combination key that other function key is constituted Whether it is triggered；

If the other function key is triggered, the first control instruction is sent；

Otherwise, it sends the second control instruction or does not execute instruction transmission operation.

Wherein, after the special function keys in the determination at least two function key are triggered, further includes:

Judge whether the duration that the special function keys are triggered is greater than or equal to the first preset time；

If more than or equal to first preset time, then the step of whether the other function key in the specific combination key for judging the special function keys and other function key composition is triggered executed；

Otherwise, it sends third control instruction or does not execute instruction transmission operation.

Wherein, the step of whether the other function key judged in specific combination key that the special function keys are constituted with other function key is triggered include:

Obtain the key-press status of the special function keys Yu the other function key；

Judge whether the other function key is triggered according to the key-press status of the other function key；

Judge whether the triggering state of the special function keys changes according to the key-press status of the special function keys；

If changing, determine that the other function key is not triggered, and the step of whether the other function key in the specific combination key for judging the special function keys and other function key composition is triggered terminated；

Otherwise, the step of further executing the key-press status for obtaining the special function keys and the other function key.

Wherein, the step of whether the other function key judged in specific combination key that the special function keys are constituted with other function key is triggered further comprises:

Judge whether the duration for the step of whether the other function key in the special function keys and the specific combination key that other function key is constituted is triggered is greater than or equal to the second preset time；

If more than or equal to the second preset time, then determine that the other function key is not triggered, and the step of whether the other function key in the specific combination key for judging the special function keys and other function key composition is triggered terminated；

Whether judge at least one preset candidate combinations key comprising the special function keys；

If including the special function keys, then using the candidate combinations key comprising the special function keys as the specific combination key, and the step of whether the other function key in the specific combination key for judging the special function keys and other function key composition is triggered executed；

Otherwise, the step of executing the second control instruction of the transmission or not executing instruction transmission operation.

Wherein, the candidate combinations key and corresponding control instruction are stored in advance with tabular form.

Wherein, if the other function key includes: the step of being triggered, send the first control instruction

Judge the special function keys and the other function key while whether the duration being triggered is greater than or equal to third preset time；

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

Otherwise, it executes the second control instruction of the transmission or does not execute instruction transmission operation.

Judge that first control instruction is the control instruction that the control instruction executed by the aircraft or the mobile device by connecting with the remote control equipment execute；

If first control instruction is the control instruction executed by the aircraft, first control instruction is sent to the aircraft；

If first control instruction is the control instruction executed by the mobile device, first control instruction is sent to the mobile device.

Wherein, it is described otherwise, send the second control instruction or do not execute instruction transmission operation the step of include:

Judge that second control instruction is the control instruction that the control instruction executed by the aircraft or the mobile device by connecting with the remote control equipment execute；

If second control instruction is the control instruction executed by the aircraft, second control instruction is sent to the aircraft；

If second control instruction is the control instruction executed by the mobile device, second control instruction is sent to the mobile device.

First control instruction is sent to the mobile device connecting with the remote control equipment, so that the mobile device generates third control instruction according to first control instruction, wherein the third control instruction executes corresponding movement for controlling the aircraft.

Second control instruction is sent to the mobile device connecting with the remote control equipment, so that the mobile device generates the 4th control instruction according to second control instruction, wherein the 4th control instruction is used for It controls the aircraft and executes corresponding movement.

Wherein, first control instruction and second control instruction are obtained according to the specific combination key and the special function keys by lookup table mode respectively.

On the other hand, the embodiment of the present invention proposes a kind of mobile device-based flying vehicles control method, which includes:

Receive the key-press status at least two function keys being arranged on the remote control equipment that the remote control equipment connecting with the mobile device is sent；

Using the key-press status, determine that the special function keys at least two function key are triggered；

Judge whether the other function key in specific combination key that the special function keys are constituted with other function key is triggered；

Judge the other function key in the special function keys and the specific combination key that other function key is constituted Whether the duration for the step of whether being triggered is greater than or equal to the second preset time；

On the other hand, the invention also provides a kind of remote control equipment for controlling aircraft, which includes:

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

The collector, memory, communication module are coupled with the processor；At least two function key and institute's collector couple；

The collector, for obtaining the key-press status of at least two function key；

The memory, the operational order and preset candidate combinations key executed for storing the processor；

The communication module, for sending control instruction；

The processor is used for: according to the operational order stored in the memory, execute following actuation:

Wherein, the processor is also used to execute:

Wherein, the step of whether the other function key judged in specific combination key that the special function keys are constituted with other function key that the processor executes is triggered include:

Wherein, the spy that the judgement special function keys and other function key that the processor executes are constituted Determine that the step of whether the other function key in Macintosh is triggered further comprises:

Wherein, the processor is also used to execute:

Wherein, if the other function key that the processor executes includes: the step of being triggered, send the first control instruction

Wherein, the processor execute it is described otherwise, send the second control instruction or include: the step of not executing instruction transmission operation

Second control instruction is sent to the mobile device connecting with the remote control equipment, so that the mobile device generates the 4th control instruction according to second control instruction, wherein the 4th control instruction executes corresponding movement for controlling the aircraft.

On the other hand, the invention also provides a kind of mobile device for controlling aircraft, which includes: processor, memory and communication module；

The processor and the memory are coupled with the processor；

The communication module, for sending the key-press status at least two function keys being arranged in control instruction, and the remote control equipment of the reception remote control equipment transmission to the aircraft or the remote control equipment connecting with the mobile device；

The processor is used for: receiving the key-press status at least two function keys being arranged on the remote control equipment that the remote control equipment connecting with the mobile device is sent；

Wherein, the processor is also used to execute:

Wherein, the step of whether the other function key judged in specific combination key that the special function keys are constituted with other function key that the processor executes is triggered further comprises:

Wherein, the processing is also used to execute:

The utility model has the advantages that being in contrast to the prior art, the embodiment of the present invention passes through after detecting that the special function keys on remote control equipment are triggered, further judge whether specific combination key is triggered, the corresponding control instruction of specific combination key is then sent when specific combination key is triggered, when specific combination key is not triggered, it sends the second control instruction or does not execute instruction transmission operation, after avoiding special function keys from being triggered, regardless of it is subsequent either with or without specific combination key be triggered the control instruction for also sending the special function keys the case where, it avoids when special function keys are multiplexed since the situation for causing instruction to send mistake the misjudgment that user is intended to occurs, improve the accuracy for sending control instruction.

[Detailed description of the invention]

Fig. 1 is the schematic diagram of aerocraft system first embodiment of the invention；

Fig. 2 is the schematic block diagram of the remote control equipment in aerocraft system first embodiment of the present invention；

Fig. 3 is the flow diagram of the flying vehicles control method first embodiment the present invention is based on remote control equipment；

Fig. 4 is the flow diagram of an embodiment of step S102 in Fig. 3；

Fig. 5 is the flow diagram of another embodiment of step S102 in Fig. 3；

Fig. 6 is the schematic diagram of aerocraft system second embodiment of the invention；

Fig. 7 is the flow diagram of the flying vehicles control method second embodiment the present invention is based on remote control equipment；

Fig. 8 is the flow diagram of the flying vehicles control method 3rd embodiment the present invention is based on remote control equipment；

Fig. 9 is the flow diagram of the flying vehicles control method fourth embodiment the present invention is based on remote control equipment；

Figure 10 is the schematic block diagram of mobile device in aerocraft system 3rd embodiment of the invention.

[specific embodiment]

To make those skilled in the art more fully understand technical solution of the present invention, the control method of aircraft disclosed in the embodiment of the present invention, remote control equipment and mobile device are clearly and completely described with reference to the accompanying drawings and detailed description, obviously, the described embodiments are merely a part of the embodiments of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, every other embodiment obtained by those of ordinary skill in the art without making creative efforts, shall fall within the protection scope of the present invention.

Refering to fig. 1, Fig. 1 is the schematic diagram of aerocraft system first embodiment of the invention.By taking unmanned plane as an example, as shown in Figure 1, UAV system includes remote control equipment 10 and unmanned plane 20, wherein unmanned plane 20 includes Flight main body 21, holder 22 and imaging device 23.Wherein, holder 22 and imaging device 23 are selectable units.

In the present embodiment, Flight main body 21 includes multiple rotors 211 and the rotor motor 212 that drives rotor 211 to rotate, thus provides unmanned plane 20 and flies required power.Imaging device 23 is equipped on Flight main body 21 by holder 22.Imaging device 23 is used to carry out image or video capture, including but not limited to multi-spectral imager, hyperspectral imager, Visible Light Camera and infrared camera etc. in the flight course of unmanned plane 20.Holder 22 is spinning transmission and stability augmentation system, including multiple rotation axis 221 and horizontal stage electric machine 222.Horizontal stage electric machine 222 compensates the shooting angle of imaging device 23 by adjusting the rotational angle of rotation axis 221, and prevents or reduce the shake of imaging device 23 by the way that buffer gear appropriate is arranged.Certainly, in other embodiments, imaging device 23 can be equipped on Flight main body 21 directly or by other modes.

Remote control equipment 10 is provided with multiple function keys 11 (including function button 112 and idler wheel 111) and antenna 13, remote control equipment 10 are controlled by user, and mode is communicated with unmanned plane 20 by wireless communication, And then the flight course of unmanned plane 20, the shooting process of imaging device 23 or both are controlled.As shown in Fig. 2, Fig. 2 is the schematic block diagram of the remote control equipment in aerocraft system first embodiment of the present invention.The remote control equipment 10 of the present embodiment further includes collector 14, processor 16, memory 15 and communication module 17 in addition to multiple function keys 11 (including function button 112 and idler wheel 111) and antenna 13.Collector 14, memory 15, communication module 17 are coupled with processor 16；At least two function keys 11 are coupled with collector 14.

Collector 14 is used to obtain the key-press status of at least two function keys 11；Memory 15 is used for the operational order and preset candidate combinations key that storage processor 16 executes；Communication module 16 is used to send the control instruction of the generation of processor 16.Corresponding control instruction is further generated according to key-press status by remote control equipment 10.Control instruction includes but is not limited to flight control instruction or shooting control instruction, wherein flight control instruction be used for control unmanned plane 20 state of flight (such as, position, height, direction, speed and posture etc.), shooting control instruction is used to control the shooting state (for example, shooting angle, shooting time and exposure parameter etc.) of the imaging device 23 mounted of unmanned plane 20.

It is the flow diagram of the flying vehicles control method first embodiment the present invention is based on remote control equipment refering to Fig. 3, Fig. 3, in the present embodiment, remote control equipment may include following steps to the control method of unmanned plane:

S101, determine that the special function keys at least two function keys are triggered.

Processor obtains the key-press status of at least two function keys by collector, determines whether a certain function key on remote control equipment is triggered using key-press status.Special function keys can be any function key at least two function keys being arranged on remote control equipment.In the present embodiment, after determining that a certain special function keys on remote control equipment are triggered, then subsequent step is continued to execute.Special function keys can be the function key with multiplexing function, i.e., special function keys are other than having its own corresponding function, moreover it is possible to constitute Macintosh with other function keys with multiplexing function key on remote control equipment；In addition, the special function keys can also constitute Macintosh with other function keys for not having multiplexing function key on remote control equipment, the function that the Macintosh being combined into has is different from the function that the special function keys and other function key itself have.Such as, C1 key is in addition to having itself original function on remote control equipment, Macintosh can also be constituted with C2 key, wherein, C2 can be the function key (Macintosh that can be other with the other function key combination in addition to C1 key) with multiplexing function, be also possible to the function key (can only be with C1 key combination at Macintosh) without multiplexing function；Function when C1 key is triggered with the Macintosh that C2 key is formed is all different with C1 key and the original function key of C2 key, and can be different from the function of a function key any other on remote control equipment.

It is understood that special function keys are not fixed a certain function key, in the present embodiment, for the Macintosh that there are function keys of multiplexing function to constitute for two or more, special function keys are at first The function key being triggered, for example, C1 key and C2 key all have multiplexing function, and C1 key and C2 bond energy enough combine and form new Macintosh, then in C1 key and C2 key, the function key being triggered at first is special function keys.For the Macintosh that there is the function key of multiplexing function to constitute with the function key for not having multiplexing function, it is special function keys that this, which has the function key of multiplexing function,.

In the present embodiment, user can be triggered at least two function keys on remote control equipment using modes such as pressing, rolling, touch or slidings to it.For example, the holder Hui Zhongjian on remote control equipment, user can then trigger it by way of pressing, the function keys such as idler wheel on remote control equipment then trigger it by way of rolling.Different according to the type of remote control equipment, operation needed for corresponding Trigger Function key may be different, specifically need to be configured according to the actual situation.

In the present embodiment, the key-press status for obtaining function key is periodically patrolled one by one the key-press status of function key each on remote control equipment by collector.The specific duration in period is configured according to actual needs, and optionally, the duration in period can be 14 milliseconds, 16 milliseconds or 20 milliseconds.In the present embodiment, collector can confirm the function key of current detection when the key-press status one by one to each function key detects, which function key know current detection is, when processor receive collector transmission key-press status when, can also be obtained from key-press status be which key key-press status.In other embodiments, collector can also only patrol to key-press status, but not which function key of detection confirmed, after processor receives the key-press status that collector is sent, further judges the corresponding function key of the key-press status according to key-press status by processor.

S102, judge whether the other function key in specific combination key that special function keys are constituted with other function key is triggered.

After processor determines that a certain special function keys on remote control equipment at least two function keys are triggered, the corresponding control instruction of the special function keys can't be sent immediately, and whether the other function key for being to continue with the other function key judged on remote control equipment and whether being triggered, and be triggered can constitute a specific Macintosh with the special function keys.

In the present embodiment, specific combination key does not imply that a certain specified Macintosh, and refers to after determining special function keys, any combination key that can be made of the other function key in the special function keys and remote control equipment in addition to special function keys.For example, determining that special function keys are C1 key, if C1 key and C2 bond energy enough constitute a Macintosh, the specific combination key in the present embodiment refers to the Macintosh being made of C1 key and C2 key, then other function key is C2 key.In the present embodiment, other function key also may refer to multiple function keys, if C1 key and record button can also constitute a Macintosh, the specific combination key in the present embodiment is then the Macintosh that C1 key and C2 key are constituted or the Macintosh that can be also made of C1 key and record button, and other function key is at this time For C2 key or record button.If C1 key, C2 key and record button three can constitute a Macintosh, other function key then includes C2 key and/or record button at this time.

Further, refering to Fig. 4, step S102 may include following steps:

S1021, the key-press status for obtaining special function keys and other function key.

After step S101 determines that the special function keys on remote control equipment are triggered, continue for obtaining the key-press status of the special function keys, the key-press status for the other function key that specific combination key can be constituted with the special function keys is obtained simultaneously, it is identified according to operation intention of the key-press status of special function keys and other function key to user, judge that user is intended to the function using special function keys itself, is also intended to using the multiplexing function by the special function keys.

In the present embodiment, when obtaining the key-press status of other function key, due to collector can obtain itself detection be which function key, therefore after determining special function keys, collector can targetedly detect the key-press status of other function key that can constitute specific combination key with the special function keys, and no longer detect the key-press status of remaining function key.In addition, the key-press status of other function key is targetedly sent to processor after collector also can detecte the key-press status of repertoire key.Such as, C1 key and C2 key constitute Macintosh on remote control equipment, when C1 key is triggered, collector continues persistently to check the key-press status of C1 key, also the key-press status of C2 key is detected simultaneously, and the key-press status of the function key on remote control equipment in addition to C1 key and C2 key does not continue to then detect；Or after the key-press status of collector detection repertoire key, the key-press status of C1 key and C2 key is only sent to processor.

S1022, judge whether other function key is triggered according to the key-press status of other function key.

According to the key-press status of the other function key received, the key-press status of the other function key is judged, to determine whether the other function key is triggered by user.Judged according to the key-press status to other function key, the operation that user can be recognized is intended to, if user triggers other function key, then illustrate that user may wish to the function of the specific combination key constituted using special function keys and other function key, step S1023 is continued to execute, otherwise, executes step S104, the second control instruction is sent, or does not execute instruction the operation of transmission.

It is to be appreciated that other function key can only include a function key, it is also possible to include multiple function keys；And when other function key includes multiple function keys, it can be each function key in multiple function keys and constitute specific combination key with special function keys respectively, it is also possible to part function key and special function keys in multiple function keys and constitutes a specific combination key, another part function key and special function keys constitutes another specific combination key.Therefore, when judging whether other function key is triggered, some or the multiple other function bond energys for judging to be triggered are enough with special function keys composition specific combination key.It is worth noting that, when part other function key repeats, needing to continue to judge the key-press status of other function key when in two or more specific combination keys； For example, C1 key is special function keys, C1 key and C2 bond energy enough constitute a specific combination key, C1 key, C2 key and record button three can constitute another specific combination key, then when detecting that C2 key is triggered, needs to continue to judge the key-press status of record button, judge whether record button is triggered.

S1023, judge whether the triggering state of special function keys changes according to the key-press status of special function keys.

When whether the other function key that judgement can constitute specific combination key with special function keys is triggered, it is also desirable to persistently judge the key-press status of the special function keys, and then accurate can identify that the operation of user is intended to.If during judging whether other function key is triggered, the triggering state of special function keys changes, illustrate that special function keys are no longer triggered in user midway, then user may be only intended to the function using special function keys, or maloperation, step S104 is executed at this time, sends the second control instruction, or do not execute instruction the operation of transmission.

In the present embodiment, step S1022 and step S1023 are performed simultaneously, judged simultaneously whether the triggering state of special function keys changes, and judge whether other function key is triggered according to the key-press status for obtaining special function keys and other function key.It is worth noting that, can also be by the way of successively executing between step S1022 and step S1023.

S1024, end judge the step of whether the other function key in special function keys and the specific combination key that other function key is constituted is triggered.

If the triggering state of special function keys changes, then illustrate that user no longer triggers the special function keys, user may be only intended to function or maloperation using special function keys at this time, then after the triggering state of special function keys changes, no matter whether other function key is triggered, determine that other function key is not triggered, terminates the judgement whether being triggered to other function key at this time, executes step S104, the second control instruction is sent, or does not execute instruction the operation of transmission.

S1025, the step of key-press status for obtaining special function keys and other function key is executed.

The triggering state generation of special function keys does not change, then illustrate that user persistently triggers the special function keys, then enable the multiplexing function of the special function keys, continue to obtain the key-press status of the special function keys Yu other function key, continue to judge whether special function keys and other function key are triggered, until judgement obtains special function keys and other function key is triggered, the specific combination key for then determining that special function keys are constituted with other function key is triggered, and then step S103 is executed, send the first control instruction.

For example, C1 key and C2 bond energy enough constitute a specific combination key, C1 key is specific combination key, after determining that C1 key is triggered, the key-press status of C2 key is obtained, and continues to obtain the key-press status of C1 key, judge whether the triggering state of C1 key changes, and judges whether C2 key is triggered.If the triggering shape of C1 key State is changed, no matter whether C2 key is triggered, and all terminates the judgement of the key-press status to C2 key, if the triggering state of C1 key does not change, then continue to judge the key-press status of C1 key and C2 key, until the result judged is C1 key and C2 key while being triggered.

Further, may also include the steps of: refering to Fig. 5, step S102

S1026, judge whether the duration for the step of whether special function keys are triggered with the other function key in the specific combination key of other function key composition is greater than or equal to the second preset time.

In the present embodiment, when executing step S102, the duration of step S102 is judged, that is, judges whether other function key is triggered in the second preset time or whether the triggering state of special function keys changes.Specifically, whether the triggering state that the key-press status of the special function keys and other function key that are got according to a certain period determines special function keys changes, and/or whether other function key is triggered, if the triggering state of special function keys does not change, and other function key is not triggered, the key-press status for continuing the special function keys and other function key that get according to next period judges whether the triggering state of special function keys changes, and whether other function key is triggered, so circulation, the duration of this process is recorded simultaneously, until the duration of record is greater than or equal to the second preset time.During this period, whether the duration of the step for step whether being triggered according to other function key is greater than or equal to the second preset time, to select subsequent to be to execute step S1027 or execute step S1028.

In the present embodiment, the duration of the second preset time can be 1 second, 2 seconds or 3 seconds, and the present invention is not specifically limited.

S1027, end judge the step of whether the other function key in special function keys and the specific combination key that other function key is constituted is triggered.

If the judging result of step S1026 is to judge that the duration for the step of whether other function key is triggered is greater than or equal to the second preset time, then explanation is in the second preset time, user does not trigger other function key, or special function keys are no longer triggered in the second preset time, then it is determined as that other function key is not triggered, special function keys and other function key cannot constitute specific combination key at this time, user may be maloperation to the triggering of special function keys, then terminate the judgement whether being triggered to other function key, subsequent execution step S104 at this time, it sends the second control instruction or does not execute instruction transmission operation.

S1028, the step of key-press status for obtaining special function keys and other function key is executed.

If the judging result of step S1026 is duration the step of judging other function key less than the second preset time, then explanation is in the second preset time, other function key is triggered, at this time, the key-press status for continuing acquisition special function keys and other function key, returns to step S1021, further judges whether the triggering state of special function keys also occurs that variation, or whether the key-press status of other function key changes, until determining Special function keys and other function key are triggered, and then follow the steps S103, send the first control instruction.

S103, the first control instruction is sent.

If the judging result of step S102 is that the other function key that can constitute specific combination key with special function keys in the remaining function key on remote control equipment is triggered, remote control equipment sends out the first control instruction at this time.

In the present embodiment, the first control instruction is the corresponding control instruction of specific combination key, different from the corresponding control instruction of any function key in specific combination key itself.The communication module that remote control equipment passes through itself, first control instruction is sent to unmanned plane, so that unmanned plane carries out corresponding operation according to the first control instruction, and terminate this process, until after unmanned plane is operated according to first control instruction, determine that the special function keys on remote control equipment are triggered, and repeat above-mentioned step S101 and step S102 again.

S104, it sends the second control instruction or does not execute instruction transmission operation.

If the judging result of step S102 is that the other function key that can constitute specific combination key with special function keys in the remaining function key on remote control equipment is not triggered, remote control equipment sends the second control instruction；Or the triggering to special function keys is judged as false triggering, the operation for sending and executing is not executed, and terminate this process, until determining that the special function keys on remote control equipment are triggered, and repeat above-mentioned step S101 and step S102 again.

In the present embodiment, the second control instruction is the corresponding control instruction of special function keys, and the second control instruction is sent to unmanned plane by itself communication module by remote control equipment, so that unmanned plane carries out corresponding operation according to the second control instruction.

In other embodiments, aerocraft system can also include mobile device 30, as shown in fig. 6, remote control equipment 10 can be connect with mobile device 30, wherein can be wireless connection between remote control equipment 10 and mobile device 30, be also possible to wired connection；At this point, the first control instruction and the second control instruction can be the control instruction executed by mobile device 30.At this time, remote control equipment 10 is when sending the first control instruction or the second control instruction, first control instruction or the second control instruction are judged, the first control instruction is judged or the second control instruction is the control instruction that the control instruction executed by unmanned plane 20 or the mobile device 30 by connecting with remote control equipment 10 execute；If the first control instruction or the second control instruction are the control instructions executed by unmanned plane 20, remote control equipment 10 sends the first control instruction or the second control instruction to unmanned plane 20；If the first control instruction or the second control instruction are the control instructions executed by mobile device 30, remote control equipment 10 sends the first control instruction or the second control instruction to mobile device 30.

In addition, in another embodiment, the control instruction that mobile device 30 can send remote control equipment 10 judges, and then generates the control instruction for controlling unmanned plane 20.At this point, the first control instruction and Two control instructions, which can be, to be generated for mobile device 30 for controlling the third control instruction of aircraft and the control instruction of the 4th control instruction.At this time, remote control equipment 10 sends the first control instruction or the second control instruction to mobile device 30, mobile device 30 judges the first control instruction or the second control instruction, judge the first control instruction or the second control instruction is the control instruction executed by itself or the control instruction executed by unmanned plane 20, if then executing corresponding operating according to the first control instruction or the second control instruction by the control instruction that itself is executed；If the control instruction that unmanned plane 20 executes, third control instruction or the 4th control instruction for controlling unmanned plane 20 are further then generated according to the first control instruction or the second control instruction, third control instruction or the 4th control instruction are further sent to unmanned plane 20.Wherein, third control instruction can be identical as the first control instruction, and the 4th control instruction can be identical as the second control instruction.In the present embodiment, third control instruction or the 4th control instruction directly can be sent to unmanned plane 20 by mobile device 30, third control instruction or the 4th control instruction first can also be sent to remote control equipment 10, then third control instruction or the 4th control instruction are sent to unmanned plane 20 by remote control equipment 10.

The present embodiment passes through after special function keys are triggered, further judge whether the specific combination key being made of the special function keys with the other function key on remote control equipment is triggered, the corresponding control instruction of specific combination key is then sent when specific combination key is triggered, or do not execute instruction transmission operation, it avoids when special function keys multiplexing, instruction sends the situation of mistake, improves the accuracy of the control instruction of transmission.

Further, refering to Fig. 7, Fig. 7 is the flow diagram of the flying vehicles control method second embodiment the present invention is based on remote control equipment, wherein, the present embodiment is improved on the basis of Fig. 3 is to control method first embodiment shown in fig. 5, as shown in fig. 7, may also include the steps of: after the present embodiment step S101 shown in Fig. 3

S105, judge whether the duration that special function keys are triggered is greater than or equal to the first preset time.

User is when using the multiplexing function of special function keys, the operation intention of user can be judged by the triggering state of special function keys, if the time that user triggers special function keys is too short, it may be considered that user is only intended to the function of triggering special function keys itself, or the false triggering of user, judge according to the duration that special function keys are triggered, is selected to execute step S106 or step S107 according to the result of judgement.

After determining that special function keys are triggered, the key-press status of special function keys is persistently obtained, to the duration that special function keys are triggered, in other words, is judged the triggering state of special function keys.If the duration that special function keys are triggered is greater than or equal to the first preset time, illustrates user's long-pressing special function keys, then enable the multiplexing function of the special function keys.

In the present embodiment, the duration of the first preset time can be 1 second, 2 seconds or 3 seconds, and the present invention, which is not done, to be had Body limits.

S106, execution judge the step of whether the other function key in special function keys and the specific combination key that other function key is constituted is triggered.

If the judging result of step S105 is the duration that special function keys are triggered to be greater than or equal to the first preset time, then explanation is in the first preset time, the triggering state of special function keys does not change always, in other words, user's long-pressing or persistently trigger the special function keys, the multiplexing function of special function keys is enabled at this time, continue to execute step S102, the step of whether the other function key that judgement can constitute specific combination key with the special function keys is triggered, it selects to execute step S103 or step S104 further according to judging result, it is identical to step S102 shown in fig. 5 as Fig. 3 at this time, details are not described herein again.

S107, it sends third control instruction or does not execute instruction transmission operation.

If the judging result of step S105 is duration for being triggered of special function keys less than the first preset time, then explanation is in the first preset time, the triggering state of special function keys changes, in other words, in the first preset time, the key-press status of special function keys has become the state not triggered, then may be false triggering when user triggers special function keys for the first time, then not execute instruction transmission operation.Furthermore, if the third control instruction corresponding with the duration being triggered that is provided with special function keys, then corresponding third control instruction can also be sent according to the duration that special function keys are triggered, and terminate this process, until determining that the special function keys on remote control equipment are triggered, and repeat above-mentioned step S101 and step S102 again.Wherein, third control instruction can be identical as the second control instruction.

Further, refering to Fig. 8, Fig. 8 is the flow diagram of the flying vehicles control method 3rd embodiment the present invention is based on remote control equipment, wherein, the present embodiment is improved on the basis of Fig. 3 is to control method first embodiment shown in fig. 5, as shown in figure 8, may also include the steps of: after the present embodiment step S101 shown in Fig. 3

S108, whether judge at least one preset candidate combinations key comprising special function keys.

It is not that each function key has the function of multiplexing on remote control equipment, then after special function keys are triggered, whether can have the function of that multiplexing judges to the special function keys, select subsequent execution step S109 or step S110 according to whether the special function keys have the function of multiplexing.

In the present embodiment, is searched at least one preset candidate combinations key, determine whether the special function keys have the function of multiplexing by judging whether that the Macintosh comprising the special function keys can be found.Wherein, at least one candidate combinations key is the default candidate combinations key that customized setting is carried out to each function key on remote control equipment, at least one candidate combinations key is stored in advance in remote control equipment in the form of a list, and control instruction corresponding at least one candidate combinations key also is stored in the list, it can be by from candidate Specific combination key is searched in Macintosh, and then determines the control instruction of the specific combination key.

S109, using the candidate combinations key comprising special function keys as specific combination key, and the step of whether the other function key judged in specific combination key that special function keys and other function key are constituted is triggered executed.

If the judging result of step S108 is to include the special function keys in candidate combinations key, then the special function keys have the function of multiplexing, then continue to execute step S102, the step of whether the other function key that judgement can constitute specific combination key with the special function keys is triggered, identical to step S102 shown in fig. 5 as Fig. 3 at this time, details are not described herein again.

S110, the step of sending the second control instruction or not executing instruction transmission operation is executed.

If the judging result of step S108 is not include the special function keys in candidate combinations key, then illustrate that remaining any function key on the special function keys and remote control equipment in addition to the special function keys cannot constitute Macintosh, the key-press status for not needing the remaining function key on to remote control equipment in addition to the special function keys judges, Fig. 3 can then be executed to step S104 shown in fig. 5, it sends the second control instruction or does not execute instruction transmission operation, and terminate this process, until determining that the special function keys on remote control equipment are triggered again, repeat above-mentioned step S101 and step S102.

Further, refering to Fig. 9, Fig. 9 is the flow diagram of the flying vehicles control method fourth embodiment the present invention is based on remote control equipment, wherein, the present embodiment is improved on the basis of Fig. 3 is to control method first embodiment shown in fig. 5, as shown in figure 9, may also include the steps of: after the present embodiment step S102 shown in Fig. 3

S130, judge special function keys and other function key while whether the duration being triggered is greater than or equal to third preset time.

Step S102 judged special function keys and other function key whether and meanwhile the case where be triggered, but when special function keys and other function key are triggered simultaneously, user may also change the key-press status of special function keys and/or other function key, if still sending corresponding first control instruction of specific combination key of special function keys and other function key composition at this time, it is possible that instruction sends the situation of mistake.Thus, the present embodiment is after step S102 judges to obtain special function keys and other function key while being triggered, further judge special function keys and other function key while the duration being triggered, in other words, in third preset time, judge whether the triggering state of special function keys and other function key changes, is selected to execute step S140 or step S150 according to judging result.

In the present embodiment, the duration of third preset time can be 1 second, 2 seconds or 3 seconds, and the present invention is not specifically limited.

S140, the first control instruction is sent.

If the judging result of step S130 is the duration that special function keys and other function key are triggered simultaneously to be greater than or equal to third preset time, then special function keys and the triggering state of other function key do not change in third preset time, determine special function keys and the specific combination key that other function key is constituted, send corresponding first control instruction of the specific combination key, and terminate this process, until determining that the special function keys on remote control equipment are triggered, and repeat above-mentioned step S101 and step S102 again.

S150, it executes the second control instruction of transmission or does not execute instruction transmission operation.

If the judging result of step S130 is the duration that special function keys and other function key are triggered simultaneously to be less than third preset time, then explanation is in third preset time, special function keys and/or other function key are no longer triggered, the triggering for then thinking other function key is the maloperation of user, then sends the second control instruction corresponding with special function keys；Or think that the triggering of special function keys and other function key is the maloperation of user, then transmission operation is not executed instruction, and terminate this process, until determining that the special function keys on remote control equipment are triggered, and repeat above-mentioned step S101 and step S102 again.

Further, Fig. 7 can be bound to each other to form new embodiment to flying vehicles control method second embodiment, 3rd embodiment and fourth embodiment shown in Fig. 9, the content that corresponding step executes is identical to flying vehicles control method second embodiment shown in Fig. 9,3rd embodiment and fourth embodiment as Fig. 7, and details are not described herein again.

Further, in another specific embodiment, aerocraft system can also include mobile device 30, control can be sent to unmanned plane 20 by the mobile device 30 to execute, aerocraft system in the embodiment is identical as aerocraft system second embodiment shown in fig. 6, refering to fig. 10, it is different from aerocraft system second embodiment, the mobile device 30 in present embodiment includes processor 31, memory 32 and communication module 33；Communication module 33 and memory 32 are coupled with processor 3；Communication module 33 is used to send control instruction to unmanned plane 20 or the remote control equipment connecting with mobile device 30 10, and receives the key-press status at least two function keys 11 being arranged on the remote control equipment 10 that remote control equipment 10 is sent.

In the present embodiment, remote control equipment 10 passes through its own communication module 17, and the key-press status of each function key 11 on remote control equipment 10 that collector 14 obtains is sent to mobile device 30.The communication module 33 of mobile device 30 receives the key-press status that remote control equipment 10 is sent, and the key-press status received is sent to processor 31, by the key-press status for each function key that processor 31 is sent according to the remote control equipment 10 received；Using key-press status, determine that special function keys are triggered；Judge whether the other function key in specific combination key that special function keys are constituted with other function key is triggered；If other function key is triggered, the first control instruction is sent；Otherwise, it sends the second control instruction or does not execute instruction transmission operation.

Further, mobile device 30 can execute flying vehicles control method first as shown in Figures 3 to 8 Each step in embodiment, second embodiment, 3rd embodiment and/or fourth embodiment, the detailed description of each step please refer to step explanation corresponding to Fig. 3 to Fig. 8, and details are not described herein again.It is worth noting that, by in this present embodiment the first control instruction and the second control instruction be to there is mobile device 30 to be generated according to the key-press status received, in other words, when mobile device 30 generates the first control instruction or the second control instruction, it understand that the first control instruction or the second control instruction be to be executed by itself or executed by aircraft, and no longer need to generate third control instruction and the 4th control instruction according to the first control instruction and the second control instruction.

Further, invention additionally discloses a kind of for controlling the remote control equipment of aircraft, the structure of the remote control equipment is identical as remote control equipment shown in Fig. 2, the step explanation for please referring to Fig. 3 to Fig. 8 and correspondence is described in detail for realizing Fig. 3 to the flying vehicles control method shown in Fig. 7 based on remote control equipment in the remote control equipment.

Further, invention additionally discloses a storage devices, program data is preserved in the storage device, the program data can be performed to realize that flying vehicles control method first embodiment, second embodiment, 3rd embodiment and/or fourth embodiment shown in Fig. 7, the step explanation for please referring to Fig. 3 to Fig. 8 and correspondence is described in detail in Fig. 3.

The above is only embodiments of the present invention; it is not intended to limit the scope of the invention; it is all to utilize equivalent structure or equivalent flow shift made by description of the invention and accompanying drawing content; be applied directly or indirectly in other relevant technical fields, similarly includes in scope of patent protection of the invention.

Claims

A kind of flying vehicles control method based on remote control equipment, which is characterized in that at least two function keys are provided on the remote control equipment, the control method includes:

Determine that the special function keys at least two function key are triggered；

Judge whether the other function key in specific combination key that the special function keys are constituted with other function key is triggered；

If the other function key is triggered, the first control instruction is sent；

Otherwise, it sends the second control instruction or does not execute instruction transmission operation.
Control method according to claim 1, which is characterized in that after the special function keys in the determination at least two function key are triggered, further includes:

Judge whether the duration that the special function keys are triggered is greater than or equal to the first preset time；

If more than or equal to first preset time, then the step of whether the other function key in the specific combination key for judging the special function keys and other function key composition is triggered executed；

Otherwise, it sends third control instruction or does not execute instruction transmission operation.
Control method according to claim 1, which is characterized in that the step of whether the other function key judged in specific combination key that the special function keys are constituted with other function key is triggered include:

Obtain the key-press status of the special function keys Yu the other function key；

Judge whether the other function key is triggered according to the key-press status of the other function key；

Judge whether the triggering state of the special function keys changes according to the key-press status of the special function keys；

If changing, determine that the other function key is not triggered, and the step of whether the other function key in the specific combination key for judging the special function keys and other function key composition is triggered terminated；

Otherwise, the step of further executing the key-press status for obtaining the special function keys and the other function key.
Control method according to claim 3, which is characterized in that the step of whether the other function key judged in specific combination key that the special function keys are constituted with other function key is triggered further comprises:

Judge whether the duration for the step of whether the other function key in the special function keys and the specific combination key that other function key is constituted is triggered is greater than or equal to the second preset time；

If more than or equal to the second preset time, then determine that the other function key is not triggered, and the step of whether the other function key in the specific combination key for judging the special function keys and other function key composition is triggered terminated；

Otherwise, the step of further executing the key-press status for obtaining the special function keys and the other function key.
Control method according to claim 1, which is characterized in that after the special function keys in the determination at least two function key are triggered, further includes:

Whether judge at least one preset candidate combinations key comprising the special function keys；

If including the special function keys, then using the candidate combinations key comprising the special function keys as the specific combination key, and the step of whether the other function key in the specific combination key for judging the special function keys and other function key composition is triggered executed；

Otherwise, the step of executing the second control instruction of the transmission or not executing instruction transmission operation.
Control method according to claim 5, which is characterized in that the candidate combinations key and corresponding control instruction are stored in advance with tabular form.
Control method according to claim 1, which is characterized in that if the other function key includes: the step of being triggered, send the first control instruction

Judge the special function keys and the other function key while whether the duration being triggered is greater than or equal to third preset time；

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

Otherwise, it executes the second control instruction of the transmission or does not execute instruction transmission operation.
Control method according to claim 1, which is characterized in that if the other function key includes: the step of being triggered, send the first control instruction

Judge that first control instruction is the control instruction that the control instruction executed by the aircraft or the mobile device by connecting with the remote control equipment execute；

If first control instruction is the control instruction executed by the aircraft, first control instruction is sent to the aircraft；

If first control instruction is the control instruction executed by the mobile device, first control instruction is sent to the mobile device.
Control method according to claim 1, which is characterized in that it is described otherwise, send the second control instruction or do not execute instruction transmission operation the step of include:

Judge second control instruction be the control instruction executed by the aircraft or by with the remote control The control instruction that the mobile device of equipment connection executes；

If second control instruction is the control instruction executed by the aircraft, second control instruction is sent to the aircraft；

If second control instruction is the control instruction executed by the mobile device, second control instruction is sent to the mobile device.
Control method according to claim 1, which is characterized in that if the other function key includes: the step of being triggered, send the first control instruction

First control instruction is sent to the mobile device connecting with the remote control equipment, so that the mobile device generates third control instruction according to first control instruction, wherein the third control instruction executes corresponding movement for controlling the aircraft.
Control method according to claim 10, which is characterized in that it is described otherwise, send the second control instruction or do not execute instruction transmission operation the step of include:

Second control instruction is sent to the mobile device connecting with the remote control equipment, so that the mobile device generates the 4th control instruction according to second control instruction, wherein the 4th control instruction executes corresponding movement for controlling the aircraft.
Control method according to claim 1, which is characterized in that first control instruction and second control instruction are obtained according to the specific combination key and the special function keys by lookup table mode respectively.
A kind of mobile device-based flying vehicles control method characterized by comprising

Receive the key-press status at least two function keys being arranged on the remote control equipment that the remote control equipment connecting with the mobile device is sent；

Using the key-press status, determine that the special function keys at least two function key are triggered；

Judge whether the other function key in specific combination key that the special function keys are constituted with other function key is triggered；

If the other function key is triggered, the first control instruction is sent；

Otherwise, it sends the second control instruction or does not execute instruction transmission operation.
Control method according to claim 13, which is characterized in that after the special function keys in the determination at least two function key are triggered, further includes:

Judge whether the duration that the special function keys are triggered is greater than or equal to the first preset time；

If more than or equal to first preset time, then the step of whether the other function key in the specific combination key for judging the special function keys and other function key composition is triggered executed；

Otherwise, it sends third control instruction or does not execute instruction transmission operation.
Control method according to claim 13, which is characterized in that the step of whether the other function key judged in specific combination key that the special function keys are constituted with other function key is triggered include:

Obtain the key-press status of the special function keys Yu the other function key；

Judge whether the other function key is triggered according to the key-press status of the other function key；

Judge whether the triggering state of the special function keys changes according to the key-press status of the special function keys；

If changing, determine that the other function key is not triggered, and the step of whether the other function key in the specific combination key for judging the special function keys and other function key composition is triggered terminated；

Otherwise, the step of further executing the key-press status for obtaining the special function keys and the other function key.
Control method according to claim 15, which is characterized in that the step of whether the other function key judged in specific combination key that the special function keys are constituted with other function key is triggered further comprises:

Judge whether the duration for the step of whether the other function key in the special function keys and the specific combination key that other function key is constituted is triggered is greater than or equal to the second preset time；

If more than or equal to the second preset time, then determine that the other function key is not triggered, and the step of whether the other function key in the specific combination key for judging the special function keys and other function key composition is triggered terminated；

Otherwise, the step of further executing the key-press status for obtaining the special function keys and the other function key.
Control method according to claim 13, which is characterized in that after the special function keys in the determination at least two function key are triggered, further includes:

Whether judge at least one preset candidate combinations key comprising the special function keys；

If including the special function keys, then using the candidate combinations key comprising the special function keys as the specific combination key, and the step of whether the other function key in the specific combination key for judging the special function keys and other function key composition is triggered executed；

Otherwise, the step of executing the second control instruction of the transmission or not executing instruction transmission operation.
Control method according to claim 17, which is characterized in that the candidate combinations key and corresponding control instruction are stored in advance with tabular form.
Control method according to claim 13, which is characterized in that if the other function The step of key is triggered, then sends the first control instruction include:

Judge the special function keys and the other function key while whether the duration being triggered is greater than or equal to third preset time；

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

Otherwise, it executes the second control instruction of the transmission or does not execute instruction transmission operation.
Control method according to claim 13, which is characterized in that if the other function key includes: the step of being triggered, send the first control instruction

Judge that first control instruction is the control instruction that the control instruction executed by the aircraft or the mobile device by connecting with the remote control equipment execute；

If first control instruction is the control instruction executed by the aircraft, first control instruction is sent to the aircraft；

If first control instruction is the control instruction executed by the mobile device, first control instruction is sent to the mobile device.
Control method according to claim 13, which is characterized in that it is described otherwise, send the second control instruction or do not execute instruction transmission operation the step of include:

Judge that second control instruction is the control instruction that the control instruction executed by the aircraft or the mobile device by connecting with the remote control equipment execute；

If second control instruction is the control instruction executed by the aircraft, second control instruction is sent to the aircraft；

If second control instruction is the control instruction executed by the mobile device, second control instruction is sent to the mobile device.
A kind of remote control equipment controlling aircraft, which is characterized in that the remote control equipment includes at least two function keys, collector, processor, memory and communication module；

The collector, memory, communication module are coupled with the processor；At least two function key and institute's collector couple；

The collector, for obtaining the key-press status of at least two function key；

The memory, the operational order and preset candidate combinations key executed for storing the processor；

The communication module, for sending control instruction；

The processor is used for: according to the operational order stored in the memory, execute following actuation:

Determine that the special function keys at least two function key are triggered；

Judge the other function key in the special function keys and the specific combination key that other function key is constituted Whether it is triggered；

If the other function key is triggered, the first control instruction is sent；

Otherwise, it sends the second control instruction or does not execute instruction transmission operation.
Remote control equipment according to claim 22, which is characterized in that the processor is also used to execute:

Judge whether the duration that the special function keys are triggered is greater than or equal to the first preset time；

If more than or equal to first preset time, then the step of whether the other function key in the specific combination key for judging the special function keys and other function key composition is triggered executed；

Otherwise, it sends third control instruction or does not execute instruction transmission operation.
Remote control equipment according to claim 22, which is characterized in that the step of whether the other function key judged in specific combination key that the special function keys are constituted with other function key that the processor executes is triggered include:

Obtain the key-press status of the special function keys Yu the other function key；

Judge whether the other function key is triggered according to the key-press status of the other function key；

Judge whether the triggering state of the special function keys changes according to the key-press status of the special function keys；

If changing, determine that the other function key is not triggered, and the step of whether the other function key in the specific combination key for judging the special function keys and other function key composition is triggered terminated；

Otherwise, the step of further executing the key-press status for obtaining the special function keys and the other function key.
Remote control equipment according to claim 24, which is characterized in that the step of whether the other function key judged in specific combination key that the special function keys are constituted with other function key that the processor executes is triggered further comprises:

Judge whether the duration for the step of whether the other function key in the special function keys and the specific combination key that other function key is constituted is triggered is greater than or equal to the second preset time；

If more than or equal to the second preset time, then determine that the other function key is not triggered, and the step of whether the other function key in the specific combination key for judging the special function keys and other function key composition is triggered terminated；

Otherwise, the step of further executing the key-press status for obtaining the special function keys and the other function key.
Remote control equipment according to claim 22, which is characterized in that the processor is also used to hold Row:

Whether judge at least one preset candidate combinations key comprising the special function keys；

If including the special function keys, then using the candidate combinations key comprising the special function keys as the specific combination key, and the step of whether the other function key in the specific combination key for judging the special function keys and other function key composition is triggered executed；

Otherwise, the step of executing the second control instruction of the transmission or not executing instruction transmission operation.
Remote control equipment according to claim 26, which is characterized in that the candidate combinations key and corresponding control instruction are stored in advance with tabular form.
Remote control equipment according to claim 22, which is characterized in that if the other function key that the processor executes includes: the step of being triggered, send the first control instruction

Judge the special function keys and the other function key while whether the duration being triggered is greater than or equal to third preset time；

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

Otherwise, it executes the second control instruction of the transmission or does not execute instruction transmission operation.
Remote control equipment according to claim 22, which is characterized in that if the other function key that the processor executes includes: the step of being triggered, send the first control instruction

Judge that first control instruction is the control instruction that the control instruction executed by the aircraft or the mobile device by connecting with the remote control equipment execute；

If first control instruction is the control instruction executed by the aircraft, first control instruction is sent to the aircraft；

If first control instruction is the control instruction executed by the mobile device, first control instruction is sent to the mobile device.
Remote control equipment according to claim 22, which is characterized in that the processor execute it is described otherwise, send the second control instruction or include: the step of not executing instruction transmission operation

Judge that second control instruction is the control instruction that the control instruction executed by the aircraft or the mobile device by connecting with the remote control equipment execute；

If second control instruction is the control instruction executed by the aircraft, second control instruction is sent to the aircraft；

If second control instruction is the control instruction executed by the mobile device, second control instruction is sent to the mobile device.
Remote control equipment according to claim 22, which is characterized in that the institute that the processor executes Include: if stating the step of other function key is triggered, sends the first control instruction

First control instruction is sent to the mobile device connecting with the remote control equipment, so that the mobile device generates third control instruction according to first control instruction, wherein the third control instruction executes corresponding movement for controlling the aircraft.
Remote control equipment according to claim 31, which is characterized in that the processor execute it is described otherwise, send the second control instruction or include: the step of not executing instruction transmission operation

Second control instruction is sent to the mobile device connecting with the remote control equipment, so that the mobile device generates the 4th control instruction according to second control instruction, wherein the 4th control instruction executes corresponding movement for controlling the aircraft.
Remote control equipment according to claim 22, which is characterized in that first control instruction and second control instruction are obtained according to the specific combination key and the special function keys by lookup table mode respectively.
A kind of mobile device controlling aircraft, which is characterized in that the mobile device includes processor, memory and communication module；

The processor and the memory are coupled with the processor；

The communication module, for sending the key-press status at least two function keys being arranged in control instruction, and the remote control equipment of the reception remote control equipment transmission to the aircraft or the remote control equipment connecting with the mobile device；

The processor is used for: receiving the key-press status at least two function keys being arranged on the remote control equipment that the remote control equipment connecting with the mobile device is sent；

Using the key-press status, determine that the special function keys at least two function key are triggered；

Judge whether the other function key in specific combination key that the special function keys are constituted with other function key is triggered；

If the other function key is triggered, the first control instruction is sent；

Otherwise, it sends the second control instruction or does not execute instruction transmission operation.
Mobile device according to claim 34, which is characterized in that the processor is also used to execute:

Judge whether the duration that the special function keys are triggered is greater than or equal to the first preset time；

If more than or equal to first preset time, then the step of whether the other function key in the specific combination key for judging the special function keys and other function key composition is triggered executed；

Otherwise, it sends third control instruction or does not execute instruction transmission operation.
Mobile device according to claim 34, which is characterized in that the step of whether the other function key judged in specific combination key that the special function keys are constituted with other function key that the processor executes is triggered include:

Obtain the key-press status of the special function keys Yu the other function key；

Judge whether the other function key is triggered according to the key-press status of the other function key；

Judge whether the triggering state of the special function keys changes according to the key-press status of the special function keys；

If changing, determine that the other function key is not triggered, and the step of whether the other function key in the specific combination key for judging the special function keys and other function key composition is triggered terminated；

Otherwise, the step of further executing the key-press status for obtaining the special function keys and the other function key.
Mobile device according to claim 34, which is characterized in that the step of whether the other function key judged in specific combination key that the special function keys are constituted with other function key that the processor executes is triggered further comprises:

Judge whether the duration for the step of whether the other function key in the special function keys and the specific combination key that other function key is constituted is triggered is greater than or equal to the second preset time；

If more than or equal to the second preset time, then determine that the other function key is not triggered, and the step of whether the other function key in the specific combination key for judging the special function keys and other function key composition is triggered terminated；

Otherwise, the step of further executing the key-press status for obtaining the special function keys and the other function key.
Mobile device according to claim 34, which is characterized in that the processing is also used to execute:

Whether judge at least one preset candidate combinations key comprising the special function keys；

If including the special function keys, then using the candidate combinations key comprising the special function keys as the specific combination key, and the step of whether the other function key in the specific combination key for judging the special function keys and other function key composition is triggered executed；

Otherwise, the step of executing the second control instruction of the transmission or not executing instruction transmission operation.
The mobile device according to claim 38, which is characterized in that the candidate combinations key and corresponding control instruction are stored in advance with tabular form.
Mobile device according to claim 34, which is characterized in that if the other function key that the processor executes includes: the step of being triggered, send the first control instruction

Judge the special function keys and the other function key while whether the duration being triggered is greater than or equal to third preset time；

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

Otherwise, it executes the second control instruction of the transmission or does not execute instruction transmission operation.
Mobile device according to claim 34, which is characterized in that if the other function key that the processor executes includes: the step of being triggered, send the first control instruction

Judge that first control instruction is the control instruction that the control instruction executed by the aircraft or the mobile device by connecting with the remote control equipment execute；

If first control instruction is the control instruction executed by the aircraft, first control instruction is sent to the aircraft；

If first control instruction is the control instruction executed by the mobile device, first control instruction is sent to the mobile device.
Mobile device according to claim 34, which is characterized in that the processor execute it is described otherwise, send the second control instruction or include: the step of not executing instruction transmission operation

Judge that second control instruction is the control instruction that the control instruction executed by the aircraft or the mobile device by connecting with the remote control equipment execute；

If second control instruction is the control instruction executed by the aircraft, second control instruction is sent to the aircraft；

If second control instruction is the control instruction executed by the mobile device, second control instruction is sent to the mobile device.