A method for controlling a four-rotor aircraft system based on the human-computer interaction technology, which belongs to the intelligent flying robot field, is characterized in that a manipulator can control the four-rotor aircraft by gestures. The flight attitude control is accomplished by the cooperative running of the four rotors which are arranged at geometrical vertexes of the four-rotor aircraft with three degrees of freedom being yaw angle, pitch angle and roll angle. The human-computer interaction technology mainly utilizes OpenCV and OpenGL. The system captures depth images of the manipulator hands through a depth camera; the depth images are analyzed and processed by the computer to obtain gesture information and generate control signals corresponding to the gesture information; and then the control signals are sent through a radio communication device to the aircraft for execution, so as to accomplish the mapping from the motion state of the manipulator hands to the motion state of the aircraft and complete the gesture control. With the help of far controlling distance and more visual gesture corresponding relation, the gesture control can be applied to danger experiments and industrial production processes with high execution difficulty.