CN108924520A - Transfer control method, device, controller, capture apparatus and aircraft - Google Patents
Transfer control method, device, controller, capture apparatus and aircraft Download PDFInfo
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- CN108924520A CN108924520A CN201811150238.7A CN201811150238A CN108924520A CN 108924520 A CN108924520 A CN 108924520A CN 201811150238 A CN201811150238 A CN 201811150238A CN 108924520 A CN108924520 A CN 108924520A
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- 238000000034 method Methods 0.000 title claims abstract description 58
- 238000012546 transfer Methods 0.000 title claims abstract description 31
- 238000004891 communication Methods 0.000 claims abstract description 243
- 230000005540 biological transmission Effects 0.000 claims abstract description 99
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- 238000001514 detection method Methods 0.000 claims description 5
- 238000005516 engineering process Methods 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 19
- 238000003860 storage Methods 0.000 description 11
- 238000004590 computer program Methods 0.000 description 9
- 230000006870 function Effects 0.000 description 8
- 238000013507 mapping Methods 0.000 description 6
- 230000000694 effects Effects 0.000 description 5
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- 238000012545 processing Methods 0.000 description 4
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- 238000005183 dynamical system Methods 0.000 description 3
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Classifications
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/183—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/66—Remote control of cameras or camera parts, e.g. by remote control devices
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Abstract
The present embodiments relate to vehicle technology field, a kind of transfer control method, device, controller, capture apparatus and aircraft are disclosed.Wherein, the method includes：The control command that receiving terminal apparatus is sent；The type of the control command is detected, and according to the type of the control command, the communication link for being used for transmission the control command is determined from least two communication links；The control command is sent to image collecting device by identified communication link, to control described image acquisition device acquisition image.The transfer control method provided through the embodiment of the present invention can satisfy the demand of various Image Acquisition, improve the flexibility of control command transmission, to guarantee the performance of capture apparatus shooting.
Description
Technical field
The present embodiments relate to vehicle technology field more particularly to a kind of transfer control method, transmission control unit,
Controller, capture apparatus and aircraft.
Background technique
The aircraft such as unmanned plane as a kind of current shooting carrier of hot topic, due to it with small in size, high maneuverability, instead
The features such as sensitive is answered, can get many normal the photograph shooting angle that cannot achieve and shooting tasks, therefore, by extensively increasingly
In more mappings that is applied to take photo by plane.
For unmanned plane is in the application in mapping of taking photo by plane, usually set on the fuselage of unmanned plane equipped with shooting
Standby, capture apparatus, by image transmitting to ground terminal, shows this for obtaining image will pass through ground terminal
Image.Also, the shooting of capture apparatus is controlled by ground terminal.It is clapped for example, ground terminal is sent for controlling
The order taken the photograph or instruction to capture apparatus controller, controller the order or instruction are transferred in capture apparatus again be used for into
Row image collecting device, to control shooting.However, communication mode between the controller and image collecting device of control shooting at present
It is relatively simple, control between the controller of shooting and image collecting device usually only by single communication link carry out order or
The transmission of instruction, and each communication link in the transmission of different order or instruction there are some to a certain extent for lacking
It falls into, the transmission which may result in image is affected.Therefore, order or instruction are only carried out by single communication link
The mode of transmission be not easy to meet the needs of various Image Acquisition, to influence the performance of capture apparatus shooting.
Summary of the invention
The object of the present invention is to provide a kind of transfer control method, transmission control unit, controller, capture apparatus and
Aircraft only is not easy to meet various figures in such a way that single communication link carries out the transmission of order or instruction for solving
The problem of demand of picture acquisition.
The embodiment of the invention discloses following technical solutions：
In a first aspect, the embodiment of the invention provides a kind of transfer control method, the method includes：
The control command that receiving terminal apparatus is sent；
The type of the control command is detected, and according to the type of the control command, from least two communication links
Determine the communication link for being used for transmission the control command；
The control command is sent to image collecting device by identified communication link, is adopted with controlling described image
Acquisition means acquire image.
Optionally, the type according to the control command, determination is used for transmission institute from least two communication links
The communication link of control command is stated, including：
According to the type of the control command, the communication chain of highest priority at least two communication links is determined
Road, and using the communication link of identified highest priority as the communication link for transmitting the control command.
Optionally, the type of the detection control command, and according to the type of the control command, determination is described extremely
The communication link of highest priority in few two communication links, and using the communication link of identified highest priority as transmission
The communication link of the control command, including：
When detecting the control command is image acquisition parameter setting command, at least two communication links are determined
The communication link of middle highest priority is USB link, and using the USB link as transmission described image acquisition parameter setting life
The communication link of order；
Wherein, described image acquisition parameter setting command is used to be arranged the parameter of described image acquisition device acquisition image.
Optionally, at least two communication links include USB link and the first GPIO link, the detection control
The type of order, and according to the type of the control command determines the logical of highest priority at least two communication links
Believe link, and using the communication link of identified highest priority as the communication link for transmitting the control command, including：
When detecting the control command to capture order, highest priority at least two communication links is determined
Communication link be the first GPIO link, and using the first GPIO link as transmit it is described capture order communication link；
Wherein, the candid photograph order is captured for controlling described image acquisition device.
Optionally, the method also includes：
Control the disconnection and conducting of the USB link；
Wherein, it when detecting the control command is to capture order, controls the USB link and disconnects, by the candid photograph
Order is sent to described image acquisition device by the first GPIO link；
When detecting the control command is image acquisition parameter setting command, the USB link conducting is controlled, by institute
It states image acquisition parameter setting command and described image acquisition device is sent to by the USB link.
Optionally, switch is provided in the USB link, before the disconnection and conducting of the control USB link, packet
It includes：
Receive the switch command that the terminal device is sent in its main interface and while switching over from interface；
The disconnection for controlling the USB link and conducting include：
According to the switch command, the disconnection and conducting of the switch are controlled；
The disconnection and conducting of the USB link are controlled by the disconnection and conducting of the switch.
Optionally, the switch command includes switch ON- and OFF- command and switch closure command, and the reception terminal is set
The standby switch command sent in its main interface and while switching over from interface controls the switch according to the switch command
It disconnects and conducting includes：
When the changing interface of the terminal device to main interface, receives the switch that the terminal device is sent and disconnect life
It enables, the switch is controlled according to the switch ON- and OFF- command and is disconnected；
When the changing interface of the terminal device is to from interface, receive the terminal device transmission closes the switch life
It enables, the switch conduction is controlled according to the switch closure command.
Optionally, the switch is connected with the 2nd GPIO link, described to open according to switch ON- and OFF- command control
Shutdown open including：
By the switch ON- and OFF- command by being sent to the switch with the 2nd GPIO link to control the switch
It disconnects；
It is described to include according to the switch closure command control switch conduction：
The switch closure command is sent to the switch by the 2nd GPIO link to lead to control the switch
It is logical.
Second aspect, the embodiment of the invention provides a kind of transmission control unit, described device includes：
Control command receiving module, the control command sent for receiving terminal apparatus；
Communication link determining module, for detecting the type of the control command, and according to the control command type, from
The communication link for being used for transmission the control command is determined at least two communication links；
Control command sending module, for the control command to be sent to Image Acquisition by identified communication link
Device, to control described image acquisition device acquisition image.
Optionally, the communication link determining module is according to the type of the control command, from least two communication links
Middle determination is used for transmission the communication link of the control command, including：
According to the type of the control command, the communication chain of highest priority at least two communication links is determined
Road, and using the communication link of identified highest priority as the communication link for transmitting the control command.
Optionally, the communication link determining module detects the type of the control command, and according to the control command
Type, determine the communication link of highest priority at least two communication links, and by identified highest priority
Communication link as the communication link for transmitting the control command, including：
When detecting the control command is image acquisition parameter setting command, at least two communication links are determined
The communication link of middle highest priority is USB link, and using the USB link as transmission described image acquisition parameter setting life
The communication link of order；
Wherein, described image acquisition parameter setting command is used to be arranged the parameter of described image acquisition device acquisition image.
Optionally, at least two communication links include USB link and the first GPIO link, and the communication link determines
Module detects the type of the control command, and according to the type of the control command, determines at least two communication links
The communication link of middle highest priority, and using the communication link of identified highest priority as the transmission control command
Communication link, including：
When detecting the control command to capture order, highest priority at least two communication links is determined
Communication link be the first GPIO link, and using the first GPIO link as transmit it is described capture order communication link；
Wherein, the candid photograph order is captured for controlling described image acquisition device.
Optionally, described device further includes：
Switch control module, for controlling the disconnection and conducting of the USB link；
The control command sending module is specifically used for：
It when detecting the control command is to capture order, controls the USB link and disconnects, so that the control command is sent out
It send module to order the candid photograph and described image acquisition device is sent to by the first GPIO link；
When detecting the control command is image acquisition parameter setting command, the USB link conducting is controlled, so that institute
It states control command sending module and described image acquisition parameter setting command is sent to described image acquisition by the USB link
Device.
Optionally, described device further includes：
Switch command receiving module, for receiving the terminal device in its main interface and transmission when switching over from interface
Switch command；
The switch control module is specifically used for：
According to the switch command, the disconnection and conducting of the switch being set in the USB link are controlled；
The disconnection and conducting of the USB link are controlled by the disconnection and conducting of the switch.
Optionally, the switch command includes switch ON- and OFF- command and switch closure command；
The switch command receiving module receives the terminal device in its main interface and transmission when switching over from interface
Switch command, according to the switch command, the disconnection and conducting for controlling the switch include the switch control module：
When the changing interface of the terminal device to main interface, the switch command receiving module receives the terminal and sets
The switch ON- and OFF- command that preparation is sent, the switch control module control the switch according to the switch ON- and OFF- command and disconnect；
When the changing interface of the terminal device is to from interface, the switch command receiving module receives the terminal and sets
The switch closure command that preparation is sent, the switch control module control the switch conduction according to the switch closure command.
Optionally, the switch is connected with the 2nd GPIO link, and the switch control module is disconnected according to the switch and being ordered
It enables controlling the switch and disconnecting and includes：
By the switch ON- and OFF- command by being sent to the switch with the 2nd GPIO link to control the switch
It disconnects；
The switch control module controls the switch conduction according to the switch closure command：
The switch closure command is sent to the switch by the 2nd GPIO link to lead to control the switch
It is logical.
The third aspect, the embodiment of the invention provides a kind of controllers, including：
At least one processor；And
The memory being connect at least one described processor communication；Wherein,
The memory is stored with the instruction that can be executed by least one described processor, and described instruction is by described at least one
A processor executes, so that at least one described processor is able to carry out transfer control method as described above.
Fourth aspect, the embodiment of the invention provides a kind of computer program product, the computer program product includes
The computer program being stored on non-volatile computer readable storage medium storing program for executing, the computer program include program instruction, when
When described program instruction is computer-executed, computer is made to execute transfer control method as described above.
5th aspect, the embodiment of the invention also provides a kind of non-volatile computer readable storage medium storing program for executing, the calculating
Machine readable storage medium storing program for executing is stored with computer executable instructions, and the computer executable instructions are as above for executing computer
The transfer control method.
6th aspect, the embodiment of the invention also provides a kind of capture apparatus, including：Image collecting device, controller and
Figure transmission module, described image acquisition device are connect with the figure transmission module and controller；
Described image acquisition device is for acquiring image and acquired image being transmitted to the figure transmission module；
The figure transmission module is transmitted to terminal device for acquiring described image acquisition device；
The controller is controller as described above.
7th aspect, the embodiment of the invention also provides a kind of aircraft, including：Fuselage and capture apparatus, the shooting
Equipment is set on the fuselage；
The capture apparatus is capture apparatus as described above.
In embodiments of the present invention, it is based on different types of control command, selects and is somebody's turn to do from least two communication links
Communication link corresponding to the type of control command, control command is transferred to Image Acquisition by selected communication link
Device can satisfy the demand of various Image Acquisition to control the image acquisition device image, improve control command transmission
Flexibility, thus guarantee capture apparatus shooting performance.
Further, since usually capture apparatus according to USB link as communication link when, adopted by the image of capture apparatus
Acquisition means acquired image is to be transmitted directly to terminal device, understands acquired image in real time will pass through terminal device
Situation considers the performance of capture apparatus itself, when using USB link as communication link, image collecting device figure collected
As that will not be saved in the memory space of capture apparatus, this is not easy to subsequent the acquired image of calling when needed, is based on
This orders for capturing, is transmitted by the first GPIO link of at least two communication links in embodiments of the present invention；
For non-candid photograph order such as image acquisition parameter setting command, transmitted by the USB link of at least two communication links, it can
Achieve the effect that save acquired image while with when capturing, calls institute when needed in order to subsequent
Image is acquired, to improve user experience.
Detailed description of the invention
One or more embodiments are illustrated by the picture in corresponding attached drawing, these exemplary theorys
The bright restriction not constituted to embodiment, the element in attached drawing with same reference numbers label are expressed as similar element, remove
Non- to have special statement, composition does not limit the figure in attached drawing.
Fig. 1 is a kind of application environment schematic diagram of transfer control method provided in an embodiment of the present invention；
Fig. 2 is a kind of configuration diagram of unmanned vehicle provided in an embodiment of the present invention；
Fig. 3 is the schematic diagram of the capture apparatus of unmanned vehicle provided in an embodiment of the present invention；
Fig. 4 is a kind of flow diagram of transfer control method provided in an embodiment of the present invention；
Fig. 5 is the flow diagram of another transfer control method provided in an embodiment of the present invention；
Fig. 6 is the schematic diagram at the interface that the embodiment of the present invention provides terminal device；
Fig. 7 is the disconnected of the main interface provided in an embodiment of the present invention by terminal device and the switch of the handover trigger from interface
The flow diagram opened and be connected；
Fig. 8 is a kind of transmission control unit schematic diagram provided in an embodiment of the present invention；
Fig. 9 is controller hardware structure schematic diagram provided in an embodiment of the present invention；
Figure 10 is the schematic diagram of capture apparatus provided in an embodiment of the present invention；
Figure 11 is the schematic diagram of aircraft provided in an embodiment of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are some of the embodiments of the present invention, instead of all the embodiments.Based on this hair
Embodiment in bright, every other implementation obtained by those of ordinary skill in the art without making creative efforts
Example, shall fall within the protection scope of the present invention.
In addition, as long as technical characteristic involved in the various embodiments of the present invention described below is each other not
Constituting conflict can be combined with each other.
Fig. 1 is transfer control method one of which application environment provided in an embodiment of the present invention.Wherein, in the application environment
Include：Unmanned vehicle 100, terminal device 200 and user's (not shown).Wherein, unmanned vehicle 100 and terminal device
200 communication connections, to carry out the interaction of information.
For example, the image transmitting that unmanned vehicle 100 will acquire is to terminal device 200, so that user can pass through the end
End equipment 200 understands the case where image acquired in unmanned vehicle 100.Alternatively, terminal device 200 sends control command etc.
To unmanned vehicle 100, image is obtained to control aircraft, such as adjustment obtains the parameter of image, adjusts the mode for obtaining image
Deng.
Unmanned vehicle 100 can be with any kind of power-actuated flight carrier or other movable equipments, packet
Include but be not limited to multiaxis rotor unmanned aircraft, such as four axis rotor unmanned aircrafts, Fixed Wing AirVehicle and helicopter.?
It is stated by taking four axis rotor unmanned aircrafts as an example in the present embodiment.
The unmanned vehicle 100 can have corresponding volume or power according to the needs of actual conditions, to provide
Enough lifting capacities, flying speed, flight course continuation mileage etc..
For example, as shown in Fig. 2, unmanned vehicle 100 at least have one for provide the dynamical system of flying power with
And the flight control system controlled for the flight to unmanned vehicle 100.The flight control system and dynamical system are logical
Letter connection.
The dynamical system may include electron speed regulator (referred to as electricity adjust), one or more propellers and with one or
The corresponding one or more motors of multiple propellers.Wherein, motor is connected between electron speed regulator and propeller, motor and
Propeller is arranged on the horn of corresponding unmanned vehicle 100.
Electron speed regulator is used to receive the driving signal of flight control system generation, and provides driving electricity according to driving signal
It flows to motor, to control the revolving speed of motor.Motor is for driving propeller to rotate, so that the flight for unmanned vehicle 100 mentions
For power, which makes unmanned vehicle 100 can be realized the movements of one or more freedom degrees.
In some embodiments, unmanned vehicle 100 can be around one or more rotary shaft rotations.For example, above-mentioned rotation
Shaft may include roll axis, translation shaft and pitch axis.It is understood that motor can be direct current generator, can also exchange
Motor.In addition, motor can be brushless motor, it can also be with brush motor.
Flight control system may include flight controller and sensor-based system.Sensor-based system is for measuring unmanned vehicle
100 posture information, i.e. unmanned vehicle 100 space location information and status information, for example, three-dimensional position, three dimensional angular
Degree, three-dimensional velocity, three-dimensional acceleration and three-dimensional angular velocity etc..Sensor-based system for example may include gyroscope, electronic compass, inertia
Measuring unit (Inertial Measurement Unit, IMU), visual sensor, Global Navigation Satellite System and barometer etc.
At least one of sensor.For example, Global Navigation Satellite System can be global positioning system (Global Positioning
System, GPS).
Flight controller is used to control the flight of unmanned vehicle 100, for example, the posture that can be measured according to sensor-based system
The flight of information control unmanned vehicle 100.It is understood that flight controller can be according to the program instruction finished in advance
The flight of unmanned vehicle 100 is controlled, it can also be by responding one or more control instructions from other equipment
The flight of unmanned vehicle 100 is controlled.
In addition, on unmanned vehicle 100 unmanned vehicle 100 can also be enabled added with one or more kinds of functional modules
It can be realized more functions, such as carry out mapping of taking photo by plane.
For example, the unmanned vehicle 100 at least has one for obtaining the capture apparatus of image, to set by the shooting
It is standby to carry out mapping etc. of taking photo by plane.Wherein, which can be camera, such as the industry of mapping camera, micro- single, the middle picture of silent frame
Grade camera, video camera etc..In further embodiments, which can be provided for being fixedly mounted shooting and set
Standby fixation bracket is replaced the shooting being mounted on unmanned vehicle 100 and is set so as to make user according to the needs of itself
It is standby.Alternatively, unmanned vehicle 100 can also include the holder being adapted to the capture apparatus, the holder is as a kind of acquisition image
Ancillary equipment, for carrying capture apparatus, so that the capture apparatus is installed on the fuselage of unmanned vehicle 100.
Capture apparatus is specifically described below with reference to Fig. 3.
As shown in figure 3, the capture apparatus includes image collecting device, figure transmission module, controller.Wherein, image collector
It sets and is connect with figure transmission module by being used for transmission the communication link of image, for example, being connected by HDMI link.Image collecting device
It is connect with controller by least two communication links.Controller is connect with figure transmission module, to control the figure transmission module.
At least two communication links include but is not limited to serial ports link, wifi link, USB (Universal Serial
Bus, universal serial bus) link, the first GPIO (General Purpose Input Output, universal input/output) chain
Road etc..It is stated in the present embodiment using the example of USB link, the first GPIO link as at least two articles communication chains.
Wherein, which can be any suitable acquisition equipment that can be realized image collecting function, such as
Camera etc..Acquired image is passed through HDMI (High Definition Multimedia by image collecting device
Interface, high-definition multimedia interface) link is sent to figure transmission module, after figure transmission module receives acquired image
The image can be sent to terminal device 200, show the image will pass through terminal device 200.For example, being controlled by controller
Figure transmission module is to send an image to terminal device 200.
In some embodiments, in order to guarantee the stability of image transmitting, capture apparatus can also include image procossing mould
Block, for handling before acquired image is sent to terminal device 200 image, to incite somebody to action, treated schemes
As being transferred to terminal device 200.
For example, acquired image is converted to the first figure for meeting audio-video interface format by image processing module first
Picture such as meets the first image of HDMI interface format；First image is converted to again and meets image receiving end interface format
Second image such as meets the second image of BT1120 interface format；And the second image is encoded, such as pass through H264 or H265
Etc. being encoded；Finally by the image transmitting after coding to terminal device 200.
The controller can be any suitable control equipment that can control image collecting device, such as MCU
(Microcontroller Unit, micro-control unit), control chip, single-chip microcontroller etc..Controller can be controlled by sending
It orders to image collecting device, to control the image collecting device.For example, control image acquisition device image
Parameter (such as focal length parameter, exposure parameter), or the mode of control image acquisition device image (as captured, video recording, are clapped
It takes the photograph).
For the transmission of the control command in capture apparatus, since each communication link is not to a certain extent for
There are some defects in the transmission of the same control command for controlling image collecting device, which may result in image
Transmission is affected.The transmission that control command is carried out according to single communication link, is not easy to meet various Image Acquisition
Demand.
At least two communication links are provided with, based on this, between image collecting device and controller to be based on inhomogeneity
The control command of type selects communication link corresponding with the type of control command to transmit control from least two communication links
Order.
For example, including at least two communication links：USB link and the first GPIO link.Controller can pass through USB chain
Control command is transmitted to image collecting device by road or the first GPIO link, each in order to meet to control image collecting device
The demand of kind Image Acquisition.
Also, when transmitting control command by USB link, control USB link conducting；When not pass through USB link transmit
When control command, control USB link is disconnected.Wherein it is possible to pass through the disconnection and conducting of switch control USB link.For example, USB
Chain road is provided with the switch, and when the switch is off, USB link disconnects；When the switch is on, USB link is connected.One
, can be by the 2nd GPIO link come the disconnection and conducting of control switch in a little implementations, and then control the disconnection of USB link
And conducting.
Terminal device 200 can be any kind of user interaction device.Terminal device 200 can be equipped with it is a kind of or
A variety of different user interaction devices, to acquire user instruction or to user show or feedback information.
These interactive devices include but is not limited to：Key, display screen, touch screen, loudspeaker and remote control operation bar.Example
Such as, terminal device 200 can be equipped with touching display screen, receive the touch operation of user by the touching display screen to generate touching
It touches order or instruction and information is shown to user by touching display screen, such as show image.
In some embodiments, terminal device 200 can be intelligent terminal, for example, mobile phone, plate, individual calculus
Machine, wearable device etc..The software application journey to match with unmanned vehicle 100 can be installed on the terminal device 200
Sequence (APP).The image that the unmanned vehicle 100 received is sent can be shown in touching by the software application by user
It controls on display screen.
In further embodiments, terminal device 200 can also be that dedicated control matched with unmanned vehicle 100 is set
It is standby, for example, the remote controler etc. of unmanned vehicle 100, can receive the image from unmanned vehicle 100 and by built-in or
The display screen of person's external connection is shown.
It is understood that the name of above-mentioned each component part for unmanned vehicle 100 is only the mesh for mark
, it is not construed as the limitation to the embodiment of the present invention.
In addition, transmission method provided in an embodiment of the present invention can also further be extended to other suitable application environments
In, and it is not limited to application environment shown in Fig. 1.For example, in actual application, the unmanned vehicle in the application environment
100 also for other any suitable aircraft, such as unmanned boat or unmanned vehicle.Also, it can also be wrapped in the application environment
More terminal devices 200 are included, for example, the quantity of 2,3 etc. namely terminal device 200 not limits herein.
Embodiment 1：
Fig. 4 is a kind of flow diagram of transfer control method provided in an embodiment of the present invention.The biography of the embodiment of the present invention
Transmission control method can be executed by the control equipment with certain logic processing capability, for example, the transfer control method can be by Fig. 1
Unmanned vehicle 100 capture apparatus controller execute.
Referring to Fig. 4, the transfer control method includes：
401：The control command that receiving terminal apparatus is sent.
For unmanned vehicle is in the application in mapping of taking photo by plane, it will be adopted in image collecting device by figure transmission module
The image of collection is sent to terminal device, and while to show the image by terminal device, terminal device can be controlled by sending
System order is controlled with the acquisition to image, to be adjusted at any time to the acquisition of image.
For example, control command is sent to controller by terminal device, after controller receives the control command, then by the control
Order is transferred to image collecting device, to control image acquisition device image.
Wherein, which can be any suitable life for being controlled image acquisition device image
It enables.For example, the control command can join for the order for controlling the parameter of image acquisition device image, such as Image Acquisition
Number setting command can be adjusted the parameter of acquisition image, for example, adjustment is burnt by the image acquisition parameter setting command
Away from parameter, exposure parameter, white balance etc..
Alternatively, the control command can also be the mode for controlling image acquisition device image, such as candid photograph order,
Video recording order etc. can control image collecting device by candid photograph order and be captured, and by recording a video, order can control image
Acquisition device is recorded a video.
402：The type of the control command is detected, and according to the type of the control command, from least two communication chains
The communication link for being used for transmission the control command is determined in road.
Controller can transmit control command by any one communication link at least two communication links.For control
For the transmission of control command between device and image collecting device processed, since each communication link is not to a certain extent for
There are some defects in the transmission of the same control command for controlling image collecting device, which may result in image
Transmission is affected.The transmission that control command is carried out according to single communication link, is not easy to meet various Image Acquisition
Demand.Therefore, in order to meet the needs of various Image Acquisition, it can be based on different types of control command, it is logical from least two
Corresponding communication link is selected to carry out the transmission of control command in letter link.
Wherein, at least two communication links include but is not limited to serial ports link, wifi link, USB link, the first GPIO chain
Road etc..
In some implementations, controller is according to the type of the control command, from least two communication links really
Surely it is used for transmission the communication link of the control command, including：According to the type of the control command, determine at least two described
The communication link of highest priority in communication link, and using the communication link of identified highest priority as the transmission control
Make the communication link of order.
Specifically, controller detects the type of the control command, and according to the type of the control command, determine described in
The communication link of highest priority at least two communication links, and using the communication link of identified highest priority as biography
The communication link of the defeated control command, including：
Detect whether the control command is to capture order, when detecting the control command to capture order, determines
The communication link of highest priority is the first GPIO link at least two communication links, and by the first GPIO link
As the communication link for transmitting the candid photograph order；Wherein, the candid photograph order is carried out for controlling described image acquisition device
It captures；Alternatively,
When detecting the control command is non-candid photograph order, determine that priority is most at least two communication links
High communication link is USB link, and using the USB link as the communication chain of transmission described image acquisition parameter setting command
Road.For example, in some embodiments, using image acquisition parameter setting command as the non-example for capturing order, when detecting
When to state control command be image acquisition parameter setting command, the communication of highest priority at least two communication links is determined
Link is USB link, and using the USB link as the communication link of transmission described image acquisition parameter setting command；Wherein,
Described image acquisition parameter setting command is used to be arranged the parameter of described image acquisition device acquisition image.
For each communication link at least two communication links, different types of control command, each communication link
Corresponding priority has a certain difference.
For example, for non-candid photograph order is such as image acquisition parameter setting command, communication link more commonly used at present
It is wifi link and USB link, therefore, communication protocol is more complete, and the first GPIO link and serial ports link are comparatively
It is of little use, therefore, to a certain extent in contrast agreement is not especially complete.And according at least two communication links
Communication link of the wifi link as transmission image acquisition parameter setting command, can interfere the figure of the 2.4G frequency range of unmanned vehicle
It passes.Therefore, for image acquisition parameter setting command, the communication link of highest priority is at least two communication links
USB link.That is, using USB link as the non-communication link for capturing order such as transmission image acquisition parameter setting command.
For capturing order, according to the USB link at least two communication links as communication link, when candid photograph
It is that terminal device is directly transferred to by figure transmission module by image collecting device acquired image, will pass through terminal device
The case where understanding acquired image in real time, considers the performance of capture apparatus of unmanned vehicle itself, if when capturing one
Image is stored in memory space on one side by side transmission image, bigger to capture apparatus performance challenges itself, therefore, using USB chain
When the communication link of link is captured on road as transmission, image collecting device acquired image will not be saved in depositing for capture apparatus
It stores up in space, this is not easy to subsequent the acquired image of calling when needed.Similar, according at least two communication links
In wifi link as transmission image acquisition parameter setting command communication link, the 2.4G frequency range of unmanned vehicle can be interfered
Figure pass.Therefore, for capturing order, the communication link of highest priority is the first GPIO at least two communication links
Link.That is, the communication link of order is captured as transmission using the first GPIO link.
403：The control command is sent to image collecting device by identified communication link, to control the figure
As acquisition device acquires image.
Wherein, it orders for capturing, is sent the candid photograph order by the first GPIO link of at least two communication links
To image collecting device, captured with controlling image collecting device；Candid photograph life non-for image acquisition parameter setting command etc.
It enables, which is sent to by image collecting device by the USB link of at least two communication links, with
The parameter of adjustment acquisition image.Achieve the effect that save acquired image while so as to when capturing, with
Acquired image is called when needed convenient for subsequent, to improve user experience.
In embodiments of the present invention, it is based on different types of control command, selects and is somebody's turn to do from least two communication links
Communication link corresponding to the type of control command is adopted so that the control command is transferred to image by selected communication link
Acquisition means can satisfy the demand of various Image Acquisition to control the image acquisition device image, improves control command and passes
Defeated flexibility, to guarantee the performance of the capture apparatus shooting of unmanned vehicle.
Also, the candid photograph order is sent to by image collector by the first GPIO link of at least two communication links
It sets, is captured with controlling image collecting device so that reaching while when capturing and carrying out acquired image
The effect of preservation calls acquired image in order to subsequent when needed, improves user experience.
Embodiment 2：
Fig. 5 is the flow diagram of another transfer control method provided in an embodiment of the present invention.The embodiment of the present invention
Transfer control method can be executed by the control equipment with certain logic processing capability, for example, the transfer control method can be by Fig. 1
In unmanned vehicle 100 capture apparatus controller execute.
Referring to Fig. 5, the transfer control method includes：
501：The control command that receiving terminal apparatus is sent.
502：The type of the control command is detected, and according to the type of the control command, from least two communication chains
The communication link for being used for transmission the control command is determined in road.
503：Receive the switch command that the terminal device is sent in its main interface and while switching over from interface.
In order to control the disconnection and conducting of USB link, can be arranged in the USB link for controlling USB link
The switch for disconnecting and being connected.When user's operation terminal device, so that terminal device is in its main interface and when switching over from interface,
Controller can receive switch command, which is used for the disconnection and conducting of control switch, and then controls the USB link
Disconnection and conducting.
Wherein, main interface is the main operation interface of terminal device default, is the non-main interface of terminal device from interface.Example
It such as, can should be parameter setting interface etc. from interface.
504：Control the disconnection and conducting of the USB link.
When at least two communication links include USB link and the first GPIO link, if USB link is constantly on,
When image collecting device is captured, image will not be saved in the memory space of capture apparatus, in SD card, directly can pass mould by figure
Block is transferred to terminal device, therefore, the problem of image is not saved in the memory space of capture apparatus when in order to avoid capturing,
The disconnection and conducting of USB link are controlled by controller, that is, when detecting the control command is to capture order,
It controls the USB link to disconnect, the candid photograph is ordered, image collecting device is sent to by the first GPIO link；When
When to detect the control command be non-candids photograph order, control the USB link and be connected, for example, in some embodiments, working as detection
When to the control command being image acquisition parameter setting command, USB link conducting is controlled, described image is acquired and is joined
Number setting command is sent to image collecting device by the USB link.
In some implementations, controller controls the disconnection of the USB link and conducting includes：It is ordered according to the switch
It enables, controls the disconnection and conducting of the switch；The disconnection of the USB link is controlled by the disconnection and conducting of the switch and is led
It is logical.Wherein, the disconnection for controlling USB link includes unloading USB, and control USB link conducting includes load USB.
The switch that control USB link is disconnected and is connected is provided with by taking Fig. 3 as an example, in USB link, when controller control switch
When disconnection, USB link is disconnected；When the conducting of controller control switch, USB link conducting.
It is excessive in order to prevent frequently to carry out USB link since USB link conducting and disconnection are related to vast resources consumption
It disconnects or the operation of conducting, controller externally provides the interface of disconnection or the conducting of USB link, namely on the main boundary of terminal device
Face and from changing interface when, receive switch command, thus the disconnection and conducting of trigger switch, and then control USB link disconnection and
Conducting.
Wherein, the switch command includes switch ON- and OFF- command and switch closure command.
In some implementations, controller receives the terminal device in its main interface and hair when switching over from interface
The switch command sent, according to the switch command, the disconnection and conducting for controlling the switch include：When the boundary of the terminal device
When face switches to main interface, the switch ON- and OFF- command that the terminal device is sent is received, is controlled according to the switch ON- and OFF- command
The switch disconnects；When the changing interface of the terminal device is to from interface, receives the switch that the terminal device is sent and close
Order is closed, the switch conduction is controlled according to the switch closure command.
Wherein, the switch is connected with the 2nd GPIO link, and controller is opened according to switch ON- and OFF- command control
Shutdown open including：By the switch ON- and OFF- command by being sent to the switch with the 2nd GPIO link to control described open
Shutdown is opened.
Controller controls the switch conduction according to the switch closure command：The switch closure command is passed through
The 2nd GPIO link is sent to the switch to control the switch conduction.
Below with reference to Fig. 6 and Fig. 7, to by the main interface of terminal device and the disconnection from changing interface trigger switch and leading
It is logical, and then the disconnection and conducting of control USB link are specifically described.
Referring to Fig. 6, for terminal device interface schematic diagram, wherein the interface of terminal device include main interface and from
Interface, also, using parameter setting interface as the example from interface.It include capturing button and ginseng in the main interface of terminal device
Number setting button (as shown in the left figure of Fig. 6)；It is set from interface including return main interface button, focusing parameter in terminal device
Set button, exposure parameter setting button, white balance button etc. (as shown in the right figure of Fig. 6).
Wherein, main interface can be switched over from interface.For example, when the user clicks or touch main interface in parameter set
Button is set, is switched to by main interface from interface；When the user clicks or return main interface button from interface is touched, by from interface
Switch to main interface.
Referring to Fig. 7, to pass through the flow diagram of disconnection and the conducting of the changing interface trigger switch of terminal device.It claps
Take the photograph equipment at the beginning, after such as powering on, switch is defaulted as disconnection.
When terminal device receive user for make terminal device enter main interface first operation when, terminal device into
Enter main interface, while terminal device enters main interface can triggering terminal equipment send switch ON- and OFF- command to controller,
It is disconnected with control switch.For example, switch ON- and OFF- command is passed through the 2nd GPIO chain after controller receives switch ON- and OFF- command
Road is sent switch and is disconnected with control switch, so that USB link disconnects, namely unloading USB, so as to allow at image collecting device
In state to be captured.
Enter main interface in terminal device, after USB link disconnects, if terminal device receives capturing for controlling for user
Second operation, such as user click or touch capture button when triggering terminal equipment send capture order to controller, controller
After receiving candid photograph order, without retransmiting switch ON- and OFF- command to switch, but it will directly capture order and pass through the first GPIO
Link is sent to image collecting device, is captured with controlling image collecting device.
Enter after main interface USB link disconnects in terminal device, if terminal device receive user for setting terminal
Standby to enter from the operation of the third at interface, when clicking such as user or touch parameter set button, terminal device enters from interface, at end
End equipment while enter from interface can triggering terminal equipment send switch closure command to controller, led with control switch
It is logical.For example, after controller receives switch closure command, by switch closure command by the 2nd GPIO link send switch with
Control switch conducting, so that USB link is connected, namely load USB.
Enter behind interface, USB link conducting in terminal device, if terminal device receives acquiring for adjusting for user
4th operation of the parameter of image, as user clicks or touch focusing parameter setting button, button, white balance is arranged in exposure parameter
Triggering terminal equipment sends image acquisition parameter setting command to controller when button etc., and controller receives Image Acquisition ginseng
After number setting command, without retransmiting switch closure command to switch, but directly image acquisition parameter setting command is passed through
First GPIO link is sent to image collecting device, to adjust the parameter of image acquisition device image.
Enter after interface USB, link conducting in terminal device, if user is clicked or is touched when returning to main interface button,
Terminal device can enter main interface again.
Control module is sent to image collecting device, to control the mistake of described image acquisition device acquisition image in controller
Cheng Zhong is the main interface by terminal device and the switching from interface come described in the disconnection of control switch and conducting control
The disconnection and conducting of USB link, controller do not need to retransmit switch ON- and OFF- command when sending and capturing order, are sending image
It does not need to retransmit switch closure command when acquisition parameter setting command.In this way, avoiding height frequently cuts off or is connected USB chain
The phenomenon that road causes image acquisition device image unstable.
505：The control command is sent to image collecting device by identified communication link, to control the figure
As acquisition device acquires image.
Based on step 504, the control command is sent to image collector by identified communication link by controller
It sets, includes to control described image acquisition device acquisition image：When the USB link disconnects, pass through the first GPIO chain
Candid photograph order is sent to image collecting device by road；When USB link conducting, grabbed by the USB link by non-
It claps order such as image acquisition parameter setting command and is sent to image collecting device.
It is according to an embodiment of the present invention to describe to be appreciated that in different embodiments, in the case of no contradiction, the step
Rapid 501-505, which can have, different executes sequence.For example, first carry out step 503-504, then execute step 502 etc..
The technical detail that should be noted not detailed description in step 501-505 described in the embodiment of the present invention, can
With reference to the specific descriptions of above-described embodiment.
In embodiments of the present invention, it is based on different types of control command, selects and is somebody's turn to do from least two communication links
Communication link corresponding to the type of control command is adopted so that the control command is transferred to image by selected communication link
Acquisition means can satisfy the demand of various Image Acquisition to control the image acquisition device image, improves control command and passes
Defeated flexibility, to guarantee the performance of the capture apparatus shooting of unmanned vehicle.
Also, the candid photograph order is sent to by image collector by the first GPIO link of at least two communication links
It sets, is captured with controlling image collecting device so that reaching while when capturing and carrying out acquired image
The effect of preservation calls acquired image in order to subsequent when needed, improves user experience.
In addition, the disconnection and conducting of the changing interface trigger switch by terminal device, and then control the disconnection of USB link
And conducting, can to avoid highly frequently cutting off or be connected the phenomenon that USB link causes image acquisition device image unstable,
Reduce resource consumption.
Embodiment 3：
Fig. 8 is a kind of schematic diagram of transmission control unit provided in an embodiment of the present invention.Wherein, the transmission control unit
80 are configured in the controller of the capture apparatus of the unmanned vehicle 100 in Fig. 1.
Referring to Fig. 8, the transmission control unit 80 includes：Control command receiving module 801, communication link determining module
802, switch command receiving module 803, switch control module 804 and control command sending module 805.
Specifically, control command receiving module 801 is used for the control command that receiving terminal apparatus is sent.
Terminal device can be controlled by sending control command with the acquisition to image, to adopt at any time to image
Collection is adjusted.For example, control command is sent to control command receiving module 801, control command receiving module by terminal device
After 801 receive the control command, then the control command is transferred to image collecting device, to control image acquisition device figure
Picture.
Wherein, which can be any suitable life for being controlled image acquisition device image
It enables.For example, the control command can join for the order for controlling the parameter of image acquisition device image, such as Image Acquisition
Number setting command.Alternatively, the control command can also be the mode for controlling image acquisition device image, life is such as captured
It enables, order etc. of recording a video.
Specifically, communication link determining module 802 is used to detect the type of the control command, and ordered according to the control
The type of order determines the communication link for being used for transmission the control command from least two communication links.
For the transmission of control command, since each communication link at least two communication links is to a certain degree
On for, there are some defects, which may lead in the transmission of the different control commands for controlling image collecting device
The transmission of image is caused to be affected.The transmission that control command is carried out according to single communication link, is not easy to meet various figures
As the demand of acquisition.Therefore, in order to meet the needs of various Image Acquisition, communication link determining module 802 can be based on difference
The control command of type selects corresponding communication link to carry out the transmission of control command from least two communication links.
Wherein, at least two communication links include but is not limited to serial ports link, wifi link, USB link, the first GPIO chain
Road etc..
In some implementations, communication link determining module 802 is according to the type of the control command, from least two
The communication link for being used for transmission the control command is determined in communication link, including：According to the type of the control command, determine
The communication link of highest priority at least two communication links, and the communication link of identified highest priority is made
For the communication link for transmitting the control command.
Specifically, communication link determining module 802 detects the type of the control command, and according to the control command
Type, determines the communication link of highest priority at least two communication links, and by identified highest priority
Communication link of the communication link as the transmission control command, including：
Detect whether the control command is to capture order, when detecting the control command to capture order, determines
The communication link of highest priority is the first GPIO link at least two communication links, and by the first GPIO link
As the communication link for transmitting the candid photograph order；Wherein, the candid photograph order is carried out for controlling described image acquisition device
It captures；Alternatively,
When detecting the control command is non-candid photograph order, determine that priority is most at least two communication links
High communication link is USB link, and using the USB link as the communication chain of transmission described image acquisition parameter setting command
Road.For example, in some embodiments, using image acquisition parameter setting command as the non-example for capturing order, when detecting
When stating control command to capture order, determine that the communication link of highest priority at least two communication links is first
GPIO link, and using the first GPIO link as the communication link for transmitting the candid photograph order；Wherein, the candid photograph order
It is captured for controlling described image acquisition device.
For each communication link at least two communication links, different types of control command, each communication link
Corresponding priority has a certain difference.
For example, for non-candid photograph order is such as image acquisition parameter setting command, it is preferential at least two communication links
The highest communication link of grade is USB link.That is, communication link determining module 802 determines USB link as transmission Image Acquisition
The non-communication link for capturing order such as parameter setting order.
For capturing order, if USB link is determined as transmission by communication link determining module 802 captures the logical of order
Believe link, when candid photograph by image collecting device acquired image be it is direct terminal device is transferred to by figure transmission module, with
It will pass through the case where terminal device understands acquired image in real time, consider the performance of capture apparatus of unmanned vehicle itself,
It is bigger to capture apparatus performance challenges itself if image is stored in memory space while transmitting image when capturing,
Therefore, when capturing the communication link of link as transmission using USB link, image collecting device acquired image will not be saved
Into the memory space of capture apparatus, this is not easy to subsequent the acquired image of calling when needed.Therefore, it is ordered for capturing
For order, the communication link of highest priority is the first GPIO link at least two communication links.That is, communication link determines
Module 802 determines that the first GPIO link captures the communication link of order as transmission.
It is carried out specifically, switch command receiving module 803 is used to receive the terminal device in its main interface and from interface
The switch command sent when switching.
In order to control the disconnection and conducting of USB link, can be arranged in the USB link for controlling USB link
The switch for disconnecting and being connected.When user's operation terminal device, so that terminal device is in its main interface and when switching over from interface,
Switch command receiving module 803 can receive switch command, which is used for the disconnection and conducting of control switch, and then controls
Make the disconnection and conducting of the USB link.
Wherein, main interface is the main operation interface of terminal device default, is the non-main interface of terminal device from interface.Example
It such as, can should be parameter setting interface etc. from interface.
Specifically, switch control module 804 is used to control the disconnection and conducting of the USB link.
When at least two communication links include USB link and the first GPIO link, if USB link is constantly on,
When image collecting device is captured, image will not be saved in the memory space of capture apparatus, in SD card, directly can pass mould by figure
Block is transferred to terminal device, therefore, the problem of image is not saved in the memory space of capture apparatus when in order to avoid capturing,
The disconnection and conducting of USB link are controlled by switch control module 804, that is, being to grab when detecting the control command
When clapping order, switch control module 804 controls the USB link and disconnects, so that control command sending module 805 is by the candid photograph
Order is sent to image collecting device by the first GPIO link；When detecting the control command is that non-candid photograph is ordered,
Switch control module 804 controls USB link conducting, for example, in some embodiments, when detecting that the control command is
When image acquisition parameter setting command, USB link conducting is controlled, so that control command sending module 805 is by described image
Acquisition parameter setting command is sent to image collecting device by the USB link.
In some implementations, switch control module 804 is specifically used for：According to the switch command, opened described in control
The disconnection and conducting of pass；The disconnection and conducting of the USB link are controlled by the disconnection and conducting of the switch.
The switch that control USB link is disconnected and is connected is provided with by taking Fig. 3 as an example, in USB link, when controller control switch
When disconnection, USB link is disconnected；When the conducting of controller control switch, USB link conducting.
It is excessive in order to prevent frequently to carry out USB link since USB link conducting and disconnection are related to vast resources consumption
Disconnect or conducting operation, externally provide USB link disconnection or conducting interface, namely terminal device main interface and from
Switch command is received when changing interface, thus the disconnection and conducting of trigger switch, and then control the disconnection and conducting of USB link.
Wherein, the switch command includes switch ON- and OFF- command and switch closure command.
In some implementations, the switch command receiving module 803 receive the terminal device in its main interface and
The switch command sent when switching over from interface, the switch control module 804 are opened described in control according to the switch command
The disconnection and conducting of pass include：When the changing interface of the terminal device to main interface, the switch command receiving module 803
The switch ON- and OFF- command that the terminal device is sent is received, the switch control module 804 is according to the switch ON- and OFF- command control
The switch is made to disconnect；When the changing interface of the terminal device is to from interface, the switch command receiving module 803 is received
The switch closure command that the terminal device is sent, the switch control module 804 control institute according to the switch closure command
State switch conduction.
Wherein, the switch is connected with the 2nd GPIO link, and switch control module 804 is according to the switch ON- and OFF- command control
Making the switch disconnection includes：By the switch ON- and OFF- command by being sent to the switch with the 2nd GPIO link to control
The switch is made to disconnect.
Switch control module 804 controls the switch conduction according to the switch closure command：The switch is closed
It closes order and the switch is sent to control the switch conduction by the 2nd GPIO link.
Main interface of the switch control module 804 by terminal device and the switching from interface come the disconnection of control switch and are led
Disconnection and conducting logical and then that control the USB link, in order to which subsequent control command sending module 805 is sending candid photograph order
When do not need to retransmit switch ON- and OFF- command, do not need to retransmit when sending image acquisition parameter setting command and close the switch life
It enables.In this way, avoiding height frequently cuts off or is connected the phenomenon that USB link causes image acquisition device image unstable.
Specifically, control command sending module 805 is for sending the control command by identified communication link
To image collecting device, to control described image acquisition device acquisition image.
Control command sending module 805 is specifically used for：When the USB link disconnects, pass through the first GPIO link
Candid photograph order is sent to image collecting device, is captured with controlling image collecting device；When the USB link is connected
When, non-candid photograph order such as image acquisition parameter setting command is sent to by image collecting device by the USB link, with adjustment
Acquire the parameter of image.Achieve the effect that save acquired image while so as to when capturing, in order to
It is subsequent to call acquired image when needed, to improve user experience.
It should be noted that in some embodiments, switch command receiving module 803 and/or switch control module 804 exist
In different embodiments, the necessary module of transmission control unit 80 can not be, that is, in some embodiments, switch command
Receiving module 803 and/or switch control module 804 can be omitted.
It should also be noted that, in embodiments of the present invention, any means implementation can be performed in the transmission control unit 80
Transfer control method provided by example, has the corresponding functional module of execution method and beneficial effect.Not in transmission control unit
The technical detail of detailed description in 80 embodiment, reference can be made to transfer control method provided by this method embodiment.
Embodiment 4：
Fig. 9 is controller hardware structure schematic diagram provided in an embodiment of the present invention.The controller can for it is above-mentioned nobody
The controller etc. of the capture apparatus of aircraft 100.As shown in figure 9, the controller 90 includes：
One or more processors 901 and memory 902, in Fig. 9 by taking a processor 901 as an example.
Processor 901 can be connected with memory 902 by bus or other modes, to be connected by bus in Fig. 9
For.
Memory 902 is used as a kind of non-volatile computer readable storage medium storing program for executing, can be used for storing non-volatile software journey
Sequence, non-volatile computer executable program and module, such as corresponding journey of transfer control method provided in an embodiment of the present invention
Sequence instruction/module is (for example, attached control command receiving module 801 shown in Fig. 8, communication link determining module 802, switch command
Receiving module 803, switch control module 804 and control command sending module 805).Processor 901 is stored in by operation
Non-volatile software program, instruction and module in reservoir 902, thereby executing the various function application and data of controller
The transfer control method that processing, i.e. realization the method embodiment provide.
Memory 902 may include storing program area and storage data area, wherein storing program area can store operation system
Application program required for system, at least one function；Storage data area, which can be stored, uses created data etc. according to controller.
It can also include nonvolatile memory in addition, memory 902 may include high-speed random access memory, for example, at least one
A disk memory, flush memory device or other non-volatile solid state memory parts.In some embodiments, memory 902 can
Choosing includes the memory remotely located relative to processor 901, these remote memories can pass through network connection to controller.
The embodiment of the network includes but is not limited to internet, intranet, local area network, mobile radio communication and combinations thereof.
One or more of modules are stored in the memory 902, when by one or more of processors
When 901 execution, transfer control method provided in an embodiment of the present invention is executed, for example, executing the method step in Fig. 6 described above
The function of the rapid 501 801-805 module into step 505, or realization Fig. 8.
Illustratively, which can also include communication interface, and the communication interface is to realize and other equipment, such as
Terminal device etc., is communicated.Other devices that controller 90 includes not limit herein.
Transfer control method provided in an embodiment of the present invention can be performed in the controller 90, has the corresponding function of execution method
It can module and beneficial effect.The technical detail of detailed description not in controller embodiment, reference can be made to the embodiment of the present invention provides
Transfer control method.
The embodiment of the invention provides a kind of computer program product, the computer program product is non-easy including being stored in
Computer program on the property lost computer readable storage medium, the computer program includes program instruction, when described program refers to
When order is computer-executed, the computer is made to execute transfer control method provided in an embodiment of the present invention.For example, more than executing
The function of 801-805 module of the method and step 501 into step 505, or realization Fig. 8 in Fig. 6 of description.
The embodiment of the invention provides a kind of non-volatile computer readable storage medium storing program for executing, the computer-readable storage mediums
Matter is stored with computer executable instructions, and the computer executable instructions are provided for making computer execute the embodiment of the present invention
Transfer control method.For example, executing method and step 501 in Fig. 6 described above to step 505, or realize in Fig. 8
The function of 801-805 module.
Embodiment 5：
Figure 10 is the schematic diagram of capture apparatus provided in an embodiment of the present invention.Wherein, which can be in Fig. 1
The capture apparatus of unmanned vehicle 100.Capture apparatus 400 includes：Image collecting device 410, above controller 90 and figure pass mould
Block 420, described image acquisition device 410 are connect with the figure transmission module 420 and controller 90.Wherein, as shown in figure 3, shooting
The description of the specific connection relationship of various components can refer to foregoing description in equipment 400, therefore, not repeat here.
Described image acquisition device 410 is for acquiring image and acquired image being transmitted to the figure transmission module 420.
The figure transmission module 420 is transmitted to terminal device for acquiring described image acquisition device 410.The controller 90 is used for
By control command by the type according to the control command from least two communication links determined by be used for transmission it is described
The communication link of control command acquires image to image collecting device 410 to control described image acquisition device 410, thus full
The demand of the various Image Acquisition of foot, improves the flexibility of control command transmission, guarantees the performance that capture apparatus 400 is shot.
Embodiment 6：
Figure 11 is the schematic diagram of aircraft provided in an embodiment of the present invention.Wherein, which can be in Fig. 1
Unmanned vehicle 100.The aircraft 500 includes：Fuselage 510 and above-mentioned capture apparatus 400.Wherein, which is arranged
In on fuselage 510.It can satisfy the demand of various Image Acquisition by the capture apparatus 400, guarantee shooting performance, improve user
Experience.
It should be noted that the apparatus embodiments described above are merely exemplary, wherein described be used as separation unit
The unit that part illustrates may or may not be physically separated, and component shown as a unit can be or can also
Not to be physical unit, it can it is in one place, or may be distributed over multiple network units.It can be according to reality
Need that some or all of the modules therein is selected to achieve the purpose of the solution of this embodiment.
By the description of above embodiment, those of ordinary skill in the art can be understood that each embodiment can borrow
Help software that the mode of general hardware platform is added to realize, naturally it is also possible to pass through hardware.Those of ordinary skill in the art can manage
All or part of the process in the solution realization embodiment method is can be by the relevant hardware of computer program instructions come complete
At the program can be stored in computer-readable storage medium, and the program is when being executed, it may include such as each method
Embodiment process.Wherein, the storage medium can be magnetic disk, CD, read-only memory (Read-Only
Memory, ROM) or random access memory (RandomAccessMemory, RAM) etc..
Finally it should be noted that：The above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；At this
It under the thinking of invention, can also be combined between the technical characteristic in above embodiments or different embodiment, step can be with
It is realized with random order, and there are many other variations of different aspect present invention as described above, for simplicity, they do not have
Have and is provided in details；Although the present invention is described in detail referring to the foregoing embodiments, the ordinary skill people of this field
Member should understand that：It is still possible to modify the technical solutions described in the foregoing embodiments, or to part of skill
Art feature is equivalently replaced；And these are modified or replaceed, each reality of the present invention that it does not separate the essence of the corresponding technical solution
Apply the range of a technical solution.
Claims (19)
1. a kind of transfer control method, which is characterized in that the method includes：
The control command that receiving terminal apparatus is sent；
The type of the control command is detected, and according to the type of the control command, is determined from least two communication links
It is used for transmission the communication link of the control command；
The control command is sent to image collecting device by identified communication link, to control described image acquisition dress
Set acquisition image.
2. the method according to claim 1, wherein the type according to the control command, from least two
The communication link for being used for transmission the control command is determined in communication link, including：
According to the type of the control command, the communication link of highest priority at least two communication links is determined, and
Using the communication link of identified highest priority as the communication link for transmitting the control command.
3. according to the method described in claim 2, it is characterized in that, the type of the detection control command, and according to institute
The type of control command is stated, determines the communication link of highest priority at least two communication links, and will be identified
Communication link of the communication link of highest priority as the transmission control command, including：
When detecting the control command is image acquisition parameter setting command, determine excellent at least two communication links
The first highest communication link of grade is USB link, and using the USB link as transmission described image acquisition parameter setting command
Communication link；
Wherein, described image acquisition parameter setting command is used to be arranged the parameter of described image acquisition device acquisition image.
4. according to the method described in claim 3, it is characterized in that, at least two communication links include USB link and
One GPIO link, the type of the detection control command, and according to the type of the control command, determine described at least two
The communication link of highest priority in communication link, and using the communication link of identified highest priority as described in transmission
The communication link of control command, including：
When detecting the control command to capture order, highest priority is logical in determining at least two communication links
Letter link is the first GPIO link, and using the first GPIO link as the communication link for transmitting the candid photograph order；
Wherein, the candid photograph order is captured for controlling described image acquisition device.
5. according to the method described in claim 4, it is characterized in that, the method also includes：
Control the disconnection and conducting of the USB link；
Wherein, it when detecting the control command is to capture order, controls the USB link and disconnects, the candid photograph is ordered
Described image acquisition device is sent to by the first GPIO link；
When detecting the control command is image acquisition parameter setting command, the USB link conducting is controlled, by the figure
As acquisition parameter setting command is sent to described image acquisition device by the USB link.
6. according to the method described in claim 5, it is characterized in that, switch is provided in the USB link, described in the control
Before the disconnection and conducting of USB link, including：
Receive the switch command that the terminal device is sent in its main interface and while switching over from interface；
The disconnection for controlling the USB link and conducting include：
According to the switch command, the disconnection and conducting of the switch are controlled；
The disconnection and conducting of the USB link are controlled by the disconnection and conducting of the switch.
7. according to the method described in claim 6, it is characterized in that, the switch command includes that switch ON- and OFF- command and switch close
Close order, the switch command for receiving the terminal device and sending in its main interface and while switching over from interface, according to institute
Switch command is stated, the disconnection and conducting for controlling the switch include：
When the changing interface of the terminal device to main interface, the switch ON- and OFF- command that the terminal device is sent, root are received
The switch is controlled according to the switch ON- and OFF- command to disconnect；
When the changing interface of the terminal device is to from interface, the switch closure command that the terminal device is sent, root are received
The switch conduction is controlled according to the switch closure command.
8. the method according to the description of claim 7 is characterized in that the switch is connected with the 2nd GPIO link, the basis
The switch ON- and OFF- command controls the switch disconnection：
The switch ON- and OFF- command is disconnected by being sent to the switch with the 2nd GPIO link with controlling the switch；
It is described to include according to the switch closure command control switch conduction：
The switch closure command is sent to the switch by the 2nd GPIO link to control the switch conduction.
9. a kind of transmission control unit, which is characterized in that described device includes：
Control command receiving module, the control command sent for receiving terminal apparatus；
Communication link determining module, for detecting the type of the control command, and according to the type of the control command, to
The communication link for being used for transmission the control command is determined in few two communication links；
Control command sending module, for the control command to be sent to image collector by identified communication link
It sets, to control described image acquisition device acquisition image.
10. device according to claim 9, which is characterized in that the communication link determining module is ordered according to the control
The type of order determines the communication link for being used for transmission the control command from least two communication links, including：
According to the type of the control command, the communication link of highest priority at least two communication links is determined, and
Using the communication link of identified highest priority as the communication link for transmitting the control command.
11. device according to claim 10, which is characterized in that the communication link determining module detects the control life
The type of order, and according to the type of the control command, determine the communication of highest priority at least two communication links
Link, and using the communication link of identified highest priority as the communication link for transmitting the control command, including：
When detecting the control command is image acquisition parameter setting command, determine excellent at least two communication links
The first highest communication link of grade is USB link, and using the USB link as transmission described image acquisition parameter setting command
Communication link；
Wherein, described image acquisition parameter setting command is used to be arranged the parameter of described image acquisition device acquisition image.
12. device according to claim 11, which is characterized in that at least two communication links include USB link and
First GPIO link, the communication link determining module detect the type of the control command, and according to the control command
Type, determines the communication link of highest priority at least two communication links, and by identified highest priority
Communication link of the communication link as the transmission control command, including：
When detecting the control command to capture order, highest priority is logical in determining at least two communication links
Letter link is the first GPIO link, and using the first GPIO link as the communication link for transmitting the candid photograph order；
Wherein, the candid photograph order is captured for controlling described image acquisition device.
13. device according to claim 12, which is characterized in that described device further includes：
Switch control module, for controlling the disconnection and conducting of the USB link；
The control command sending module is specifically used for：
It when detecting the control command is to capture order, controls the USB link and disconnects, so that the control command sends mould
The candid photograph is ordered and is sent to described image acquisition device by the first GPIO link by block；
When detecting the control command is image acquisition parameter setting command, the USB link conducting is controlled, so that the control
Described image acquisition parameter setting command is sent to described image acquisition dress by the USB link by command sending module processed
It sets.
14. device according to claim 13, which is characterized in that described device further includes：
Switch command receiving module is opened for receiving the terminal device what its main interface and while switching over from interface were sent
Close order；
The switch control module is specifically used for：
According to the switch command, the disconnection and conducting of the switch being set in the USB link are controlled；
The disconnection and conducting of the USB link are controlled by the disconnection and conducting of the switch.
15. device according to claim 14, which is characterized in that the switch command includes switch ON- and OFF- command and switch
Close commands；
The switch command receiving module receives the terminal device and opens what its main interface and while switching over from interface were sent
Order is closed, according to the switch command, the disconnection and conducting for controlling the switch include the switch control module：
When the changing interface of the terminal device to main interface, the switch command receiving module receives the terminal device hair
The switch ON- and OFF- command sent, the switch control module control the switch according to the switch ON- and OFF- command and disconnect；
When the changing interface of the terminal device is to from interface, the switch command receiving module receives the terminal device hair
The switch closure command sent, the switch control module control the switch conduction according to the switch closure command.
16. device according to claim 15, which is characterized in that the switch is connected with the 2nd GPIO link, described to open
It closes control module and controls the switch according to the switch ON- and OFF- command and disconnect and include：
The switch ON- and OFF- command is disconnected by being sent to the switch with the 2nd GPIO link with controlling the switch；
The switch control module controls the switch conduction according to the switch closure command：
The switch closure command is sent to the switch by the 2nd GPIO link to control the switch conduction.
17. a kind of controller, which is characterized in that including：
At least one processor；And
The memory being connect at least one described processor communication；Wherein,
The memory is stored with the instruction that can be executed by least one described processor, and described instruction is by described at least one
It manages device to execute, so that at least one described processor is able to carry out described in any item methods of claim 1-8.
18. a kind of capture apparatus, which is characterized in that including：Image collecting device, controller and figure transmission module, described image are adopted
Acquisition means are connect with the figure transmission module and controller；
Described image acquisition device is for acquiring image and acquired image being transmitted to the figure transmission module；
The figure transmission module is transmitted to terminal device for acquiring described image acquisition device；
The controller is controller described in claim 17.
19. a kind of aircraft, which is characterized in that including：Fuselage and capture apparatus, the capture apparatus are set to the fuselage
On；
The capture apparatus is capture apparatus described in claim 18.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811150238.7A CN108924520B (en) | 2018-09-29 | 2018-09-29 | Transmission control method, device, controller, shooting equipment and aircraft |
| PCT/CN2019/088763 WO2020062904A1 (en) | 2018-09-29 | 2019-05-28 | Transmission control method, device, controller, image capturing apparatus, and aircraft |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811150238.7A CN108924520B (en) | 2018-09-29 | 2018-09-29 | Transmission control method, device, controller, shooting equipment and aircraft |
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| Publication Number | Publication Date |
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| CN108924520A true CN108924520A (en) | 2018-11-30 |
| CN108924520B CN108924520B (en) | 2024-04-02 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201811150238.7A Active CN108924520B (en) | 2018-09-29 | 2018-09-29 | Transmission control method, device, controller, shooting equipment and aircraft |
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| WO2020062904A1 (en) | 2020-04-02 |
| CN108924520B (en) | 2024-04-02 |
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