WO2020062904A1 - 传输控制方法、装置、控制器、拍摄设备及飞行器 - Google Patents

传输控制方法、装置、控制器、拍摄设备及飞行器 Download PDF

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Publication number
WO2020062904A1
WO2020062904A1 PCT/CN2019/088763 CN2019088763W WO2020062904A1 WO 2020062904 A1 WO2020062904 A1 WO 2020062904A1 CN 2019088763 W CN2019088763 W CN 2019088763W WO 2020062904 A1 WO2020062904 A1 WO 2020062904A1
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WIPO (PCT)
Prior art keywords
command
switch
link
control
image acquisition
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PCT/CN2019/088763
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English (en)
French (fr)
Inventor
李昭早
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深圳市道通智能航空技术有限公司
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Publication of WO2020062904A1 publication Critical patent/WO2020062904A1/zh

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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
    • 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

Definitions

  • Embodiments of the present invention relate to the technical field of aircraft, and in particular, to a transmission control method, a transmission control device, a controller, a photographing device, and an aircraft.
  • drones and other aerial vehicles are widely used because of their small size, high maneuverability, and responsiveness. They can obtain many shooting angles and shooting tasks that cannot be achieved by normal photography. More and more used in aerial mapping.
  • the drone For the application of drones in aerial surveying and mapping, usually the drone is equipped with a shooting device on the body of the drone.
  • the shooting device is used to obtain images and transmit the images to the ground terminal device for display on the ground terminal device.
  • the shooting of the shooting device is controlled by the ground terminal device.
  • the ground terminal device sends a command or instruction for controlling the shooting to the controller of the shooting device, and the controller then transmits the command or instruction to the shooting device for the image acquisition device to control the shooting.
  • the communication mode between the controller that controls shooting and the image acquisition device is relatively single.
  • the controller that controls shooting and the image acquisition device usually only transmits commands or instructions through a single communication link, and each communication chain To some extent, there are some defects in the transmission of different commands or instructions, which may cause the transmission of images to be affected. Therefore, the method of transmitting commands or instructions only through a single communication link is not convenient to meet the needs of various image acquisition, thereby affecting the shooting performance of the shooting device.
  • the object of the present invention is to provide a transmission control method, a transmission control device, a controller, a photographing device, and an aircraft, which are used to solve the problem that the method of transmitting commands or instructions only through a single communication link is not convenient to meet various image acquisitions. Question of demand.
  • an embodiment of the present invention provides a transmission control method, where the method includes:
  • the determining a communication link for transmitting the control command from at least two communication links according to the type of the control command includes:
  • a communication link with the highest priority among the at least two communication links is determined, and the determined communication link with the highest priority is used as the communication link for transmitting the control command.
  • the type of the control command is detected, and a communication link having the highest priority among the at least two communication links is determined according to the type of the control command, and the determined priority is the highest.
  • the communication link as a communication link for transmitting the control command includes:
  • the control command is detected as an image acquisition parameter setting command, it is determined that the communication link with the highest priority among the at least two communication links is a USB link, and the USB link is used as the transmission image acquisition Communication link for parameter setting command;
  • the image acquisition parameter setting command is used to set parameters of the image acquired by the image acquisition device.
  • the at least two communication links include a USB link and a first GPIO link, and the type of the control command is detected, and the at least two communication links are determined according to the type of the control command.
  • the communication link with the highest priority in the path and using the determined communication link with the highest priority as the communication link for transmitting the control command includes:
  • the control command is a snap command
  • the communication link with the highest priority among the at least two communication links is a first GPIO link, and the first GPIO link is used to transmit the snap command.
  • the snapshot command is used to control the image acquisition device to perform a snapshot.
  • the method further includes:
  • control command when detecting that the control command is a capture command, controlling the USB link to be disconnected to send the capture command to the image acquisition device through the first GPIO link;
  • controlling the USB link When detecting that the control command is an image acquisition parameter setting command, controlling the USB link to be turned on to send the image acquisition parameter setting command to the image acquisition device through the USB link.
  • a switch is provided on the USB link, and before the controlling the disconnection and conduction of the USB link, the method includes:
  • the controlling the disconnection and conduction of the USB link includes:
  • the disconnection and conduction of the USB link is controlled by the disconnection and conduction of the switch.
  • the switch command includes a switch open command and a switch close command
  • the switch command received by the terminal device when switching between its main interface and the slave interface is controlled according to the switch command.
  • Disconnection and conduction include:
  • the switch is connected to a second GPIO link, and the controlling the switch to open according to the switch-off command includes:
  • the controlling the switch to be turned on according to the switch closing command includes:
  • an embodiment of the present invention provides a transmission control device, where the device includes:
  • a control command receiving module for receiving a control command sent by a terminal device
  • a communication link determining module configured to detect a type of the control command and determine a communication link for transmitting the control command from at least two communication links according to the type of the control command;
  • a control command sending module is configured to send the control command to an image acquisition device through the determined communication link, so as to control the image acquisition device to acquire an image.
  • the communication link determination module determines a communication link for transmitting the control command from at least two communication links according to the type of the control command, including:
  • a communication link with the highest priority among the at least two communication links is determined, and the determined communication link with the highest priority is used as the communication link for transmitting the control command.
  • the communication link determination module detects the type of the control command, and determines the communication link with the highest priority among the at least two communication links according to the type of the control command, and determines the determined communication link.
  • the communication link with the highest priority as the communication link for transmitting the control command includes:
  • the control command is detected as an image acquisition parameter setting command, it is determined that the communication link with the highest priority among the at least two communication links is a USB link, and the USB link is used as the transmission image acquisition Communication link for parameter setting command;
  • the image acquisition parameter setting command is used to set parameters of the image acquired by the image acquisition device.
  • the at least two communication links include a USB link and a first GPIO link
  • the communication link determination module detects a type of the control command, and determines the type of the control command according to the type of the control command.
  • the communication link with the highest priority among at least two communication links, and using the determined communication link with the highest priority as the communication link for transmitting the control command includes:
  • the control command is a snap command
  • the communication link with the highest priority among the at least two communication links is a first GPIO link, and the first GPIO link is used to transmit the snap command Command communication link;
  • the snapshot command is used to control the image acquisition device to perform a snapshot.
  • the device further includes:
  • a switch control module configured to control disconnection and conduction of the USB link
  • the control command sending module is specifically configured to:
  • control command sending module When detecting that the control command is a snap command, controlling the USB link to be disconnected, so that the control command sending module sends the snap command to the image acquisition device through the first GPIO link;
  • control command sending module When detecting that the control command is an image acquisition parameter setting command, controlling the USB link to be turned on so that the control command sending module sends the image acquisition parameter setting command to the image through the USB link Acquisition device.
  • the device further includes:
  • a switch command receiving module configured to receive a switch command sent by the terminal device when switching between its main interface and its slave interface
  • the switch control module is specifically configured to:
  • the disconnection and conduction of the USB link is controlled by the disconnection and conduction of the switch.
  • the switch command includes a switch open command and a switch close command
  • the switch command receiving module receives a switch command sent by the terminal device when switching between its main interface and a slave interface, and the switch control module controls the opening and closing of the switch according to the switch command including:
  • the switch command receiving module receives a switch-off command sent by the terminal device, and the switch control module controls the switch to open according to the switch-off command;
  • the switch command receiving module receives a switch closing command sent by the terminal device, and the switch control module controls the switch to be turned on according to the switch closing command.
  • the switch is connected to a second GPIO link, and the switch control module controls the switch to open according to the switch-off command includes:
  • the switch control module controlling the switch to be turned on according to the switch closing command includes:
  • the switch closing command is sent to the switch through the second GPIO link to control the switch to be turned on.
  • an embodiment of the present invention provides a controller, including:
  • At least one processor At least one processor
  • a memory connected in communication with the at least one processor; wherein,
  • the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to execute the transmission control method as described above.
  • an embodiment of the present invention provides a computer program product.
  • the computer program product includes a computer program stored on a non-volatile computer-readable storage medium.
  • the computer program includes program instructions. When the instructions are executed by the computer, the computer is caused to execute the transmission control method as described above.
  • an embodiment of the present invention further provides a non-volatile computer-readable storage medium, where the computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are used to cause a computer to execute as described above.
  • an embodiment of the present invention further provides a photographing device, including: an image acquisition device, a controller, and an image transmission module, and the image acquisition device is connected to the image transmission module and the controller;
  • the image acquisition device is configured to acquire an image and transmit the acquired image to the image transmission module;
  • the image transmission module is configured to transmit and collect the image acquisition device to a terminal device
  • the controller is a controller as described above.
  • an embodiment of the present invention further provides an aircraft, including: a fuselage and a photographing device, the photographing device being disposed on the fuselage;
  • the photographing device is a photographing device as described above.
  • a communication link corresponding to the type of the control command is selected from at least two communication links to transmit the control command to the image through the selected communication link.
  • the acquisition device is used to control the image acquisition device to acquire images, which can meet various image acquisition requirements, improve the flexibility of control command transmission, and thereby ensure the performance of the shooting device.
  • a photographing device usually uses a USB link as a communication link
  • the images collected by the image acquisition device of the photographing device are directly transmitted to the terminal device, so that the situation of the captured images can be known in real time through the terminal device.
  • the performance of the device itself When the USB link is used as the communication link, the images collected by the image acquisition device will not be saved to the storage space of the shooting device. This is not convenient for subsequent calls to the acquired images when needed.
  • the capture command is transmitted through the first GPIO link of at least two communication links; the non-snap command such as the image acquisition parameter setting command is transmitted through the USB link of the at least two communication links ,
  • the effect of saving the captured image can be achieved at the same time when capturing, so as to facilitate the subsequent recall of the captured image when needed, thereby improving the user experience.
  • FIG. 1 is a schematic diagram of an application environment of a transmission control method according to an embodiment of the present invention
  • FIG. 2 is a schematic structural diagram of an unmanned aerial vehicle according to an embodiment of the present invention.
  • FIG. 3 is a schematic diagram of a photographing device of an unmanned aerial vehicle according to an embodiment of the present invention.
  • FIG. 4 is a schematic flowchart of a transmission control method according to an embodiment of the present invention.
  • FIG. 5 is a schematic flowchart of another transmission control method according to an embodiment of the present invention.
  • FIG. 6 is a schematic diagram of an interface provided by a terminal device according to an embodiment of the present invention.
  • FIG. 7 is a schematic flowchart of disconnection and conduction of a trigger switch through a main interface and a slave interface of a terminal device according to an embodiment of the present invention.
  • FIG. 8 is a schematic diagram of a transmission control device according to an embodiment of the present invention.
  • FIG. 9 is a schematic diagram of a hardware structure of a controller according to an embodiment of the present invention.
  • FIG. 10 is a schematic diagram of a photographing device according to an embodiment of the present invention.
  • FIG. 11 is a schematic diagram of an aircraft provided by an embodiment of the present invention.
  • FIG. 1 is one application environment of a transmission control method according to an embodiment of the present invention.
  • the application environment includes: an unmanned aerial vehicle 100, a terminal device 200, and a user (not shown).
  • the UAV 100 and the terminal device 200 are communicatively connected to perform information interaction.
  • the unmanned aerial vehicle 100 transmits the acquired image to the terminal device 200 so that the user can know the situation of the image acquired by the unmanned aerial vehicle 100 through the terminal device 200.
  • the terminal device 200 sends a control command and the like to the unmanned aerial vehicle 100 to control the aircraft to acquire an image, such as adjusting parameters for acquiring an image, adjusting a mode for acquiring an image, and the like.
  • the unmanned aerial vehicle 100 may be any type of power-driven flying vehicle or other movable equipment, including but not limited to a multi-axis rotary wing unmanned aerial vehicle, such as a four-axis rotary wing unmanned aerial vehicle, a fixed-wing aircraft, and a helicopter.
  • a four-axis rotary wing unmanned aerial vehicle is taken as an example for description.
  • the unmanned aerial vehicle 100 may have a corresponding volume or power according to the needs of the actual situation, so as to provide sufficient load capacity, flight speed, flight range, and the like.
  • the unmanned aerial vehicle 100 is provided with at least one power system for providing flight power and a flight control system for controlling the flight of the unmanned aerial vehicle 100.
  • the flight control system is communicatively connected with the power system.
  • the power system may include an electronic governor (referred to as an ESC for short), one or more propellers, and one or more electric motors corresponding to the one or more propellers.
  • the motor is connected between the electronic governor and the propeller, and the motor and the propeller are disposed on the arm of the corresponding unmanned aerial vehicle 100.
  • the electronic governor is used to receive the driving signal generated by the flight control system, and provides a driving current to the motor according to the driving signal to control the speed of the motor.
  • the motor is used to drive the propeller to rotate, so as to provide power for the flight of the unmanned aerial vehicle 100, and the power enables the unmanned aerial vehicle 100 to achieve one or more degrees of freedom of movement.
  • the unmanned aerial vehicle 100 may rotate about one or more rotation axes.
  • the rotation axis may include a roll axis, a pan axis, and a pitch axis.
  • the motor can be a DC motor or an AC motor.
  • the motor may be a brushless motor or a brushed motor.
  • the flight control system may include a flight controller and a sensing system.
  • the sensing system is used to measure the attitude information of the unmanned aerial vehicle 100, that is, the position information and state information of the unmanned aerial vehicle 100 in space, such as three-dimensional position, three-dimensional angle, three-dimensional velocity, three-dimensional acceleration, and three-dimensional angular velocity.
  • the sensing system may include, for example, at least one of a gyroscope, an electronic compass, an Inertial Measurement Unit (IMU), a vision sensor, a global navigation satellite system, and a barometer.
  • the global navigation satellite system may be a Global Positioning System (Global Positioning System, GPS).
  • the flight controller is used to control the flight of the unmanned aerial vehicle 100.
  • the flight controller may control the flight of the unmanned aerial vehicle 100 according to the attitude information measured by the sensing system. It can be understood that the flight controller can control the flight of the unmanned aerial vehicle 100 according to a pre-programmed program instruction, and can also control the flight of the unmanned aerial vehicle 100 by responding to one or more control instructions from other devices.
  • one or more functional modules may be added to the unmanned aerial vehicle 100, so that the unmanned aerial vehicle 100 can implement more functions, such as aerial photography.
  • the unmanned aerial vehicle 100 is provided with at least one photographing device for acquiring images, so as to perform aerial mapping and the like through the photographing device.
  • the shooting device may be a camera, such as a mapping camera, a full-frame micro-single-frame, a medium-format industrial camera, a video camera, and the like.
  • the unmanned aerial vehicle 100 may further provide a fixing bracket for fixedly installing the photographing equipment, so that the user can replace the photographing equipment installed on the unmanned aerial vehicle 100 according to his own needs.
  • the unmanned aerial vehicle 100 may further include a gimbal adapted to the shooting device. The gimbal serves as an auxiliary device for collecting images, and is used for carrying a shooting device so as to install the shooting device on the drone 100 Body.
  • the photographing device includes an image acquisition device, a picture transmission module, and a controller.
  • the image acquisition device and the image transmission module are connected through a communication link for transmitting images, for example, connected through an HDMI link.
  • the image acquisition device and the controller are connected through at least two communication links.
  • the controller is connected to the image transmission module to control the image transmission module.
  • the at least two communication links include, but are not limited to, a serial port link, a wifi link, a USB (Universal Serial Bus) link, a first GPIO (General Purpose Input Output) link, and the like .
  • a USB link and a first GPIO link are taken as examples of at least two communication links.
  • the image acquisition device may be any suitable acquisition device capable of implementing an image acquisition function, such as a camera.
  • the image acquisition device sends the acquired image to the image transmission module through an HDMI (High Definition Multimedia Interface) link.
  • the image transmission module receives the acquired image, it can send the image to the terminal device 200.
  • the image transmission module is controlled by the controller to send an image to the terminal device 200.
  • the photographing device may further include an image processing module, which is used to process the captured image before sending the captured image to the terminal device 200 so as to transmit the processed image. To the terminal device 200.
  • an image processing module which is used to process the captured image before sending the captured image to the terminal device 200 so as to transmit the processed image.
  • the image processing module first converts the collected image into a first image conforming to the audio and video interface format, such as a first image conforming to the HDMI interface format; and then converts the first image into a second image conforming to the interface format of the image receiving end.
  • An image such as a second image conforming to the BT1120 interface format; encoding the second image, such as H264 or H265; and finally transmitting the encoded image to the terminal device 200.
  • the controller can be any suitable control device that can control the image acquisition device, such as an MCU (Microcontroller Unit), a control chip, a single-chip microcomputer, and so on.
  • the controller can control the image acquisition device by sending a control command to the image acquisition device. For example, control the parameters (such as focal length parameters, exposure parameters, etc.) of the image collected by the image acquisition device, or control the mode (such as snapshot, video, shooting, etc.) that the image acquisition device collects images.
  • each communication link has some defects in the transmission of different control commands for controlling the image acquisition device to a certain extent, the defects may cause the transmission of images to be affected. influences. If a single communication link is used to transmit control commands, it is not convenient to meet the needs of various image acquisition.
  • At least two communication links are provided between the image acquisition device and the controller, so that based on different types of control commands, a communication link corresponding to the type of control command is selected from at least two communication links to transmit control. command.
  • the at least two communication links include a USB link and a first GPIO link.
  • the controller can transmit the control command to the image acquisition device through the USB link or the first GPIO link to control the image acquisition device, so as to meet the needs of various image acquisition.
  • the USB link when the control command is transmitted through the USB link, the USB link is controlled to be turned on; when the control command is not transmitted through the USB link, the USB link is controlled to be disconnected.
  • the disconnection and conduction of the USB link can be controlled by a switch.
  • the switch is provided on the USB link. When the switch is turned off, the USB link is turned off; when the switch is turned on, the USB link is turned on.
  • the opening and closing of the switch can be controlled through the second GPIO link, and then the opening and closing of the USB link can be controlled.
  • the terminal device 200 may be any type of user interaction device.
  • the terminal device 200 may be equipped with one or more different user interaction devices to collect user instructions or display or feedback information to the user.
  • the terminal device 200 may be equipped with a touch display screen through which the user's touch operation is received to generate a touch command or instruction and display information to the user through the touch display screen, such as displaying images.
  • the terminal device 200 may be a smart terminal device, such as a mobile phone, a tablet, a personal computer, a wearable device, and the like.
  • a software application (APP) matching the unmanned aerial vehicle 100 may be installed on the terminal device 200. The user can use the software application to display the received image sent by the drone 100 on the touch display screen.
  • APP software application
  • the terminal device 200 may also be a dedicated control device supporting the unmanned aerial vehicle 100, for example, a remote control of the unmanned aerial vehicle 100, etc., which may receive images from the unmanned aerial vehicle 100 and pass the built-in or external The connected display shows.
  • each component of the unmanned aerial vehicle 100 is for identification purposes only, and should not be construed as limiting the embodiments of the present invention.
  • the transmission method provided by the embodiment of the present invention can be further extended to other suitable application environments, and is not limited to the application environment shown in FIG. 1.
  • the unmanned aerial vehicle 100 in the application environment also thinks of any other suitable aircraft, such as an unmanned ship or an unmanned vehicle.
  • more terminal devices 200 may be included in the application environment, for example, two, three, etc., that is, the number of terminal devices 200 is not limited herein.
  • FIG. 4 is a schematic flowchart of a transmission control method according to an embodiment of the present invention.
  • the transmission control method according to the embodiment of the present invention may be executed by a control device having a certain logic processing capability.
  • the transmission control method may be executed by a controller of a photographing device of the unmanned aerial vehicle 100 in FIG. 1.
  • the transmission control method includes:
  • the terminal device can send control commands to the The collection of images is controlled in order to adjust the collection of images at any time.
  • the terminal device sends a control command to the controller, and after receiving the control command, the controller transmits the control command to the image acquisition device, thereby controlling the image acquisition device to acquire an image.
  • the control command may be any suitable command for controlling an image acquired by the image acquisition device.
  • the control command may be a command for controlling parameters of an image captured by the image acquisition device, such as an image acquisition parameter setting command.
  • the image acquisition parameter setting command may be used to adjust parameters of the acquired image, for example, adjusting a focal length parameter, exposure Parameters, white balance, etc.
  • control command may also be a mode for controlling the image acquisition device to capture images, such as a capture command, a video command, etc.
  • the image capture device may be controlled to capture by the capture command, and the image capture device may be controlled to record by the video command.
  • the controller can transmit control commands through any one of the at least two communication links.
  • each communication link has some defects in the transmission of different control commands for controlling the image acquisition device to a certain extent, this defect may As a result, image transmission is affected.
  • a single communication link is used to transmit control commands, it is not convenient to meet the needs of various image acquisition. Therefore, in order to meet the needs of various image acquisition, based on different types of control commands, a corresponding communication link can be selected from at least two communication links for transmission of control commands.
  • the at least two communication links include, but are not limited to, a serial port link, a wifi link, a USB link, a first GPIO link, and the like.
  • the controller determining a communication link for transmitting the control command from at least two communication links according to the type of the control command includes: determining the control link according to the type of the control command.
  • the communication link with the highest priority among at least two communication links uses the determined communication link with the highest priority as the communication link for transmitting the control command.
  • the controller detects the type of the control command, and determines, according to the type of the control command, the communication link with the highest priority among the at least two communication links, and assigns the determined communication with the highest priority to the communication link.
  • the link as a communication link for transmitting the control command includes:
  • Detecting whether the control command is a snap command when detecting that the control command is a snap command, determining that the communication link with the highest priority among the at least two communication links is the first GPIO link, and The first GPIO link is used as a communication link for transmitting the snapshot command; wherein the snapshot command is used to control the image acquisition device to perform a snapshot; or
  • the control command is a non-snap command
  • the USB link is set as a transmission image acquisition parameter setting Command communication link.
  • an image acquisition parameter setting command is taken as an example of a non-snapshot command.
  • the control command is an image acquisition parameter setting command
  • the highest priority among the at least two communication links is determined.
  • the communication link is a USB link, and the USB link is used as a communication link for transmitting the image acquisition parameter setting command; wherein the image acquisition parameter setting command is used to set parameters for the image acquisition device to acquire an image .
  • the currently used communication links are the wifi link and the USB link. Therefore, the communication protocols are relatively complete, and the first GPIO link is opposite to the serial link. It is not commonly used, so the agreement is not particularly complete to a certain extent.
  • the wifi link of at least two communication links is used as the communication link for transmitting the image acquisition parameter setting command, it will interfere with the image transmission of the 2.4G frequency band of the unmanned aerial vehicle. Therefore, for the image acquisition parameter setting command, the communication link with the highest priority among the at least two communication links is a USB link. That is, a USB link is used as a communication link for transmitting non-snapshot commands such as image acquisition parameter setting commands.
  • the USB link in at least two communication links is used as the communication link
  • the image captured by the image acquisition device during the capture is directly transmitted to the terminal device through the image transmission module, so that the terminal device can be used in real time Understand the situation of the captured images and consider the performance of the UAV's shooting equipment. If the image is transferred to the storage space while the image is being captured, the performance of the shooting equipment will be more challenging. Therefore, a USB link is adopted as the When the communication link of the capture link is transmitted, the images collected by the image acquisition device will not be saved in the storage space of the shooting device, which is not convenient for subsequent recall of the acquired images when needed.
  • the wifi link in at least two communication links is used as the communication link for transmitting the image acquisition parameter setting command, it will interfere with the image transmission of the 2.4G frequency band of the unmanned aerial vehicle. Therefore, for the capture command, the communication link with the highest priority among the at least two communication links is the first GPIO link. That is, the first GPIO link is used as a communication link for transmitting a capture command.
  • 403 Send the control command to the image acquisition device through the determined communication link to control the image acquisition device to acquire an image.
  • the capture command is sent to the image capture device through the first GPIO link of at least two communication links to control the image capture device to capture the capture; for non-snap capture commands such as the image capture parameter setting command, at least The USB link of the two communication links sends the image acquisition parameter setting command to the image acquisition device to adjust the parameters of the acquired image.
  • a communication link corresponding to the type of the control command is selected from at least two communication links to transmit the control command to the selected communication link to
  • the image acquisition device is used to control the image acquisition device to acquire images, which can meet various image acquisition requirements, improve the flexibility of control command transmission, and thereby ensure the shooting performance of the shooting equipment of the unmanned aerial vehicle.
  • the capture command is sent to the image capture device through the first GPIO link of at least two communication links to control the image capture device to capture, so that the captured image can be saved at the same time as the capture In order to facilitate the subsequent recall of the acquired images when needed, and improve the user experience.
  • FIG. 5 is a schematic flowchart of another transmission control method according to an embodiment of the present invention.
  • the transmission control method according to the embodiment of the present invention may be executed by a control device having a certain logic processing capability.
  • the transmission control method may be executed by a controller of a photographing device of the unmanned aerial vehicle 100 in FIG. 1.
  • the transmission control method includes:
  • 502 Detect the type of the control command, and determine a communication link for transmitting the control command from at least two communication links according to the type of the control command.
  • a switch for controlling the disconnection and conduction of the USB link may be provided on the USB link.
  • the controller can receive a switch command, which is used to control the opening and closing of the switch, and then control the disconnection of the USB link ON and ON.
  • the main interface is the default main operation interface of the terminal device, and the slave interface is a non-main interface of the terminal device.
  • the slave interface may be a parameter setting interface.
  • the at least two communication links include the USB link and the first GPIO link
  • the image will not be saved to the storage space of the shooting device, such as an SD card, when the image capture device captures the image. It will be directly transmitted to the terminal device through the image transmission module.
  • the controller controls the disconnection and conduction of the USB link, that is, when When detecting that the control command is a snap command, controlling the USB link to be disconnected to send the snap command to the image acquisition device through the first GPIO link; when detecting that the control command is a non-snap command
  • To control the USB link to be turned on for example, in some embodiments, when it is detected that the control command is an image acquisition parameter setting command, control the USB link to be turned on to set the image acquisition parameter The command is sent to the image acquisition device through the USB link.
  • the controller controlling the disconnection and conduction of the USB link includes: controlling the disconnection and conduction of the switch according to the switch command; and controlling the disconnection and conduction of the switch through the switch Disconnection and conduction of the USB link.
  • controlling disconnection of the USB link includes unloading the USB
  • controlling conduction of the USB link includes loading the USB.
  • a USB link is provided with a switch that controls the disconnection and conduction of the USB link.
  • the controller control switch When the controller control switch is turned off, the USB link is disconnected; when the controller control switch is turned on, the USB link Road is on.
  • the controller provides an external USB link to be disconnected or turned on. That is, the switch command is received when the main interface and the slave interface of the terminal device are switched, thereby triggering the disconnection and conduction of the switch, and then controlling the disconnection and conduction of the USB link.
  • the switch command includes a switch open command and a switch close command.
  • the controller receives a switch command sent by the terminal device when switching between its main interface and a slave interface, and controlling the opening and closing of the switch according to the switch command includes: when the terminal When the interface of the device is switched to the main interface, a switch disconnection command sent by the terminal device is received, and the switch is controlled to be disconnected according to the switch disconnection command; when the interface of the terminal device is switched to the slave interface, The switch closing command sent by the terminal device is used to control the switch to be turned on according to the switch closing command.
  • the switch is connected with a second GPIO link
  • the controller controlling the switch to be disconnected according to the switch disconnection command includes: sending the switch disconnection command to the second GPIO link to the switch Switch to control the switch to open.
  • the controller controlling the switch to be turned on according to the switch closing command includes: sending the switch to close command to the switch through the second GPIO link to control the switch to be turned on.
  • FIG. 6 is a schematic diagram of an interface of a terminal device.
  • the interface of the terminal device includes a master interface and a slave interface, and a parameter setting interface is used as an example of the slave interface.
  • the main interface of the terminal device includes a snap button and a parameter setting button (as shown in the left picture of FIG. 6); and the slave interface of the terminal device includes a return to the main interface button, a focus parameter setting button, an exposure parameter setting button, and a white balance Buttons and so on (as shown on the right in Figure 6).
  • the master interface and the slave interface can be switched. For example, when the user clicks or touches a parameter setting button in the main interface, the main interface is switched to the slave interface; when the user clicks or touches the return to the main interface button in the slave interface, the slave interface is switched to the main interface.
  • FIG. 7 is a schematic flowchart of switching off and on of a trigger switch through an interface of a terminal device.
  • the switch is off by default.
  • the terminal device When the terminal device receives the user's first operation for bringing the terminal device into the main interface, the terminal device enters the main interface. When the terminal device enters the main interface, it will trigger the terminal device to send a switch disconnection command to the controller.
  • the control switch is open. For example, after the controller receives the switch-off command, the controller sends the switch-off command through the second GPIO link to control the switch to open, so that the USB link is disconnected, that is, the USB is unloaded, so that the image acquisition The device is in a state to be captured.
  • the terminal device After the terminal device enters the main interface and the USB link is disconnected, if the terminal device receives the user's second operation for controlling the capture, such as triggering the terminal device to send a capture command to the controller when the user clicks or touches the capture button, the controller After receiving the capture command, there is no need to send a switch-off command to the switch, but directly send the capture command to the image acquisition device through the first GPIO link to control the image acquisition device to perform a capture.
  • the terminal device After receiving the capture command, there is no need to send a switch-off command to the switch, but directly send the capture command to the image acquisition device through the first GPIO link to control the image acquisition device to perform a capture.
  • the terminal device After the terminal device enters the main interface and the USB link is disconnected, if the terminal device receives the user's third operation for bringing the terminal device into the slave interface, such as when the user clicks or touches the parameter setting button, the terminal device enters the slave interface.
  • the terminal device When the terminal device enters the slave interface, the terminal device is triggered to send a switch closing command to the controller to control the switch to be turned on. For example, after the controller receives the switch closing command, the controller sends the switch closing command through the second GPIO link to control the switch to be turned on, so that the USB link is turned on, that is, the USB is loaded.
  • the terminal device After the terminal device enters the slave interface and the USB link is turned on, if the terminal device receives the user's fourth operation for adjusting the parameters of the captured image, such as the user clicking or touching the focus parameter setting button, exposure parameter setting button, white balance When the button and the like are triggered, the terminal device is triggered to send an image acquisition parameter setting command to the controller. After the controller receives the image acquisition parameter setting command, it is not necessary to send a switch closing command to the switch, but directly passes the image acquisition parameter setting command through the first GPIO. The link is sent to the image acquisition device to adjust the parameters of the image acquisition device.
  • the terminal device After the terminal device enters the slave interface USB and the link is connected, if the user clicks or touches the return to the main interface button, the terminal device will enter the main interface again.
  • the switch between the main interface and the slave interface of the terminal device is used to control the disconnection and conduction of the switch to control the USB
  • the controller does not need to send a switch-off command when sending a snap command, and does not need to send a switch-on command when sending an image acquisition parameter setting command. In this way, the phenomenon of unstable image acquisition by the image acquisition device caused by the frequent disconnection or conduction of the USB link is avoided.
  • 505 Send the control command to the image acquisition device through the determined communication link to control the image acquisition device to acquire an image.
  • the controller sends the control command to the image acquisition device through the determined communication link, so as to control the image acquisition device to acquire an image includes: when the USB link is disconnected, using the first A GPIO link sends the snapshot command to the image acquisition device; when the USB link is on, a non-snap command, such as an image acquisition parameter setting command, is sent to the image acquisition device through the USB link.
  • steps 501-505 may have different execution orders without conflict. For example, steps 503-504 are performed first, and then step 502 is performed.
  • a communication link corresponding to the type of the control command is selected from at least two communication links to transmit the control command to the selected communication link to
  • the image acquisition device is used to control the image acquisition device to acquire images, which can meet various image acquisition requirements, improve the flexibility of control command transmission, and thereby ensure the shooting performance of the shooting equipment of the unmanned aerial vehicle.
  • the capture command is sent to the image capture device through the first GPIO link of at least two communication links to control the image capture device to capture, so that the captured image can be saved at the same time as the capture In order to facilitate the subsequent recall of the acquired images when needed, and improve the user experience.
  • the interface switch of the terminal device triggers the disconnection and conduction of the trigger switch, thereby controlling the disconnection and conduction of the USB link, which can avoid the high frequency of disconnection or conduction of the USB link that causes the image acquisition device to capture unstable images Phenomenon, reducing resource consumption.
  • FIG. 8 is a schematic diagram of a transmission control device according to an embodiment of the present invention.
  • the transmission control device 80 may be configured in a controller of a photographing device of the unmanned aerial vehicle 100 in FIG. 1.
  • the transmission control device 80 includes a control command receiving module 801, a communication link determination module 802, a switch command receiving module 803, a switch control module 804, and a control command sending module 805.
  • control command receiving module 801 is configured to receive a control command sent by a terminal device.
  • the terminal device can control the acquisition of the image by sending a control command in order to adjust the acquisition of the image at any time. For example, the terminal device sends a control command to the control command receiving module 801, and after receiving the control command, the control command receiving module 801 transmits the control command to the image acquisition device to control the image acquisition device to acquire an image.
  • the control command may be any suitable command for controlling an image acquired by the image acquisition device.
  • the control command may be a command for controlling a parameter of an image acquired by the image acquisition device, such as an image acquisition parameter setting command.
  • the control command may also be a mode for controlling the image acquisition device to acquire an image, such as a snap command, a video command, and the like.
  • the communication link determination module 802 is configured to detect a type of the control command, and determine a communication link for transmitting the control command from at least two communication links according to the type of the control command.
  • the communication link determination module 802 may select corresponding communication links from at least two communication links for transmission of control commands based on different types of control commands.
  • the at least two communication links include, but are not limited to, a serial port link, a wifi link, a USB link, a first GPIO link, and the like.
  • the communication link determination module 802 determines a communication link for transmitting the control command from at least two communication links according to the type of the control command, including: according to the type of the control command , Determining the communication link with the highest priority among the at least two communication links, and using the determined communication link with the highest priority as the communication link for transmitting the control command.
  • the communication link determination module 802 detects the type of the control command, and determines the communication link with the highest priority among the at least two communication links according to the type of the control command, and assigns the determined priority
  • the highest-level communication link as the communication link for transmitting the control command includes:
  • Detecting whether the control command is a snap command when detecting that the control command is a snap command, determining that the communication link with the highest priority among the at least two communication links is the first GPIO link, and The first GPIO link is used as a communication link for transmitting the snapshot command; wherein the snapshot command is used to control the image acquisition device to perform a snapshot; or
  • the control command is a non-snap command
  • the USB link is set as a transmission image acquisition parameter setting Command communication link.
  • an image acquisition parameter setting command is taken as an example of a non-snap command
  • the control command is detected as a snap command
  • the communication link with the highest priority among the at least two communication links is determined. Is a first GPIO link, and the first GPIO link is used as a communication link for transmitting the capture command; wherein the capture command is used to control the image acquisition device to perform a capture.
  • the communication link with the highest priority among at least two communication links is a USB link. That is, the communication link determination module 802 determines the USB link as a communication link that transmits non-snapshot commands such as an image acquisition parameter setting command.
  • the communication link determination module 802 determines the USB link as the communication link for transmitting the capture command, the image captured by the image acquisition device during the capture is directly transmitted to the terminal device through the image transmission module so as to pass The terminal device knows the situation of the captured image in real time, and considers the performance of the shooting device of the UAV. If the image is transferred to the storage space while the image is being captured, the performance challenge of the shooting device itself is relatively large. Therefore, USB is used.
  • the link is used as a communication link for transmitting the capture link, the images collected by the image acquisition device will not be saved in the storage space of the shooting device, which is inconvenient to call the acquired images later when needed. Therefore, for the capture command, the communication link with the highest priority among the at least two communication links is the first GPIO link. That is, the communication link determination module 802 determines the first GPIO link as a communication link for transmitting a capture command.
  • the switch command receiving module 803 is configured to receive a switch command sent by the terminal device when switching between a main interface and a slave interface thereof.
  • a switch for controlling the disconnection and conduction of the USB link may be provided on the USB link.
  • the switch command receiving module 803 can receive a switch command, which is used to control the opening and closing of the switch, and then control the USB chain Disconnection and conduction of the circuit.
  • the main interface is the default main operation interface of the terminal device, and the slave interface is a non-main interface of the terminal device.
  • the slave interface may be a parameter setting interface.
  • the switch control module 804 is configured to control disconnection and conduction of the USB link.
  • the at least two communication links include the USB link and the first GPIO link
  • the image will not be saved to the storage space of the shooting device, such as an SD card, when the image capture device captures the image. It will be directly transmitted to the terminal device through the image transmission module.
  • the switch control module 804 is used to control the disconnection and conduction of the USB link, that is, When the control command is detected as a snap command, the switch control module 804 controls the USB link to be disconnected, so that the control command sending module 805 sends the snap command to the image acquisition device through the first GPIO link ;
  • the switch control module 804 controls the USB link to be turned on, for example, in some embodiments, when it is detected that the control command is an image acquisition parameter setting command, control The USB link is turned on so that the control command sending module 805 sends the image acquisition parameter setting command to the image acquisition device through the USB link.
  • the switch control module 804 is specifically configured to: control the opening and closing of the switch according to the switching command; and control the opening and closing of the USB link through the opening and closing of the switch And continuity.
  • a USB link is provided with a switch that controls the disconnection and conduction of the USB link.
  • the controller control switch When the controller control switch is turned off, the USB link is disconnected; when the controller control switch is turned on, the USB link Road is on.
  • an interface for disconnecting or turning on the USB link is provided externally, that is, in When the main interface and the slave interface of the terminal device are switched, the switch command is received, thereby triggering the disconnection and conduction of the switch, and then controlling the disconnection and conduction of the USB link.
  • the switch command includes a switch open command and a switch close command.
  • the switch command receiving module 803 receives a switch command sent by the terminal device when switching between its main interface and a slave interface, and the switch control module 804 controls the switch according to the switch command.
  • Disconnecting and conducting includes: when the interface of the terminal device is switched to the main interface, the switch command receiving module 803 receives a switch disconnection command sent by the terminal device, and the switch control module 804 disconnects according to the switch.
  • An ON command controls the switch to be disconnected; when the interface of the terminal device is switched to a slave interface, the switch command receiving module 803 receives a switch closing command sent by the terminal device, and the switch control module 804 is configured according to the switch A close command controls the switch to be turned on.
  • the switch is connected to a second GPIO link, and the switch control module 804 controls the switch to be disconnected according to the switch disconnection command including: sending the switch disconnection command to the second GPIO link to the switch The switch is used to control the switch to open.
  • the switch control module 804 controlling the switch to be turned on according to the switch closing command includes: sending the switch to close command to the switch through the second GPIO link to control the switch to be turned on.
  • the switch control module 804 controls the disconnection and conduction of the switch through the switching of the main interface and the slave interface of the terminal device, thereby controlling the disconnection and conduction of the USB link, so that the subsequent control command sending module 805 sends a capture command. It is not necessary to send a switch-off command at this time, and it is not necessary to send a switch-on command when sending an image acquisition parameter setting command. In this way, the phenomenon of unstable image acquisition by the image acquisition device caused by the frequent disconnection or conduction of the USB link is avoided.
  • control command sending module 805 is configured to send the control command to the image acquisition device through the determined communication link, so as to control the image acquisition device to acquire an image.
  • the control command sending module 805 is specifically configured to: when the USB link is disconnected, send the capture command to the image capture device through the first GPIO link to control the image capture device to capture; when the USB When the link is on, a non-snap command such as an image acquisition parameter setting command is sent to the image acquisition device through the USB link to adjust the parameters of the acquired image.
  • the switch command receiving module 803 and / or the switch control module 804 may not be necessary modules of the transmission control device 80 in different embodiments, that is, in some embodiments, the switch The command receiving module 803 and / or the switch control module 804 may be omitted.
  • the transmission control device 80 may execute the transmission control method provided by any method embodiment, and has function modules and beneficial effects corresponding to the execution method.
  • the transmission control method provided in this method embodiment may be executed.
  • FIG. 9 is a schematic diagram of a hardware structure of a controller according to an embodiment of the present invention.
  • the controller may be a controller of a photographing device of the UAV 100 and the like. As shown in FIG. 9, the controller 90 includes:
  • One processor 901 is taken as an example in FIG. 9.
  • the processor 901 and the memory 902 may be connected through a bus or in other manners.
  • the connection through the bus is taken as an example.
  • the memory 902 is a non-volatile computer-readable storage medium, and can be used to store non-volatile software programs, non-volatile computer executable programs, and modules, such as program instructions corresponding to the transmission control method provided by the embodiment of the present invention.
  • / Module for example, the control command receiving module 801, the communication link determination module 802, the switch command receiving module 803, the switch control module 804, and the control command sending module 805 shown in FIG. 8).
  • the processor 901 executes various functional applications and data processing of the controller by running non-volatile software programs, instructions, and modules stored in the memory 902, that is, implementing the transmission control method provided by the method embodiment.
  • the memory 902 may include a storage program area and a storage data area, where the storage program area may store an operating system and application programs required for at least one function; the storage data area may store data created according to the use of the controller, and the like.
  • the memory 902 may include a high-speed random access memory, and may further include a non-volatile memory, such as at least one magnetic disk storage device, a flash memory device, or other non-volatile solid-state storage device.
  • the memory 902 may optionally include a memory remotely set relative to the processor 901, and these remote memories may be connected to the controller through a network. Examples of the network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.
  • the one or more modules are stored in the memory 902, and when executed by the one or more processors 901, perform a transmission control method provided by an embodiment of the present invention, for example, execute the above-mentioned FIG. 6 Steps 501 to 505 of the method, or functions of the 801-805 module in FIG. 8 are implemented.
  • the controller 90 may further include a communication interface, which is used to implement communication with other devices, such as a terminal device.
  • a communication interface which is used to implement communication with other devices, such as a terminal device.
  • Other devices included in the controller 90 are not limited herein.
  • the controller 90 can execute the transmission control method provided by the embodiment of the present invention, and has corresponding function modules and beneficial effects of executing the method. For technical details that are not described in detail in the embodiment of the controller, refer to the transmission control method provided in the embodiment of the present invention.
  • An embodiment of the present invention provides a computer program product.
  • the computer program product includes a computer program stored on a non-volatile computer-readable storage medium.
  • the computer program includes program instructions. When the program instructions are executed by a computer, When the computer is caused to execute the transmission control method provided by the embodiment of the present invention. For example, the method steps 501 to 505 in FIG. 6 described above are performed, or the functions of the modules 801-805 in FIG. 8 are implemented.
  • An embodiment of the present invention provides a non-volatile computer-readable storage medium, where the computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are used to cause a computer to perform the transmission provided by the embodiments of the present invention.
  • Control Method For example, the method steps 501 to 505 in FIG. 6 described above are performed, or the functions of the 801-805 module in FIG. 8 are implemented.
  • FIG. 10 is a schematic diagram of a photographing device according to an embodiment of the present invention.
  • the shooting device may be a shooting device of the unmanned aerial vehicle 100 in FIG. 1.
  • the photographing device 400 includes an image acquisition device 410, the above-mentioned controller 90, and an image transmission module 420, and the image acquisition device 410 is connected to the image transmission module 420 and the controller 90.
  • FIG. 3 for a description of the specific connection relationship of each component in the photographing device 400, reference may be made to the foregoing description, and therefore, details are not described herein.
  • the image acquisition device 410 is configured to acquire an image and transmit the acquired image to the image transmission module 420.
  • the image transmission module 420 is configured to transmit and collect the image acquisition device 410 to a terminal device.
  • the controller 90 is configured to control a control command to the image acquisition device 410 through a communication link for transmitting the control command determined from at least two communication links according to the type of the control command.
  • the image acquisition device 410 acquires images, thereby meeting various image acquisition requirements, improving the flexibility of transmission of control commands, and ensuring the performance of shooting by the photographing device 400.
  • FIG. 11 is a schematic diagram of an aircraft provided by an embodiment of the present invention.
  • the aircraft 500 may be the unmanned aerial vehicle 100 in FIG. 1.
  • the aircraft 500 includes a fuselage 510 and the above-mentioned photographing device 400.
  • the shooting device 400 is disposed on the body 510.
  • the shooting device 400 can meet various image collection requirements, ensure shooting performance, and improve user experience.
  • the device embodiments described above are only schematic, and the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical Units can be located in one place or distributed to multiple network units. Some or all of the modules may be selected according to actual needs to achieve the objective of the solution of this embodiment.
  • the embodiments can be implemented by means of software plus a general hardware platform, and of course, also by hardware.
  • the program can be stored in a computer-readable storage medium, and the program is being executed. In this case, the process of the embodiment of each method may be included.
  • the storage medium may be a magnetic disk, an optical disk, a read-only memory (ROM), or a random access memory (Random Access Memory, RAM).

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Abstract

本发明实施例涉及飞行器技术领域，公开了一种传输控制方法、装置、控制器、拍摄设备及飞行器。其中，所述方法包括：接收终端设备发送的控制命令；检测所述控制命令的类型，并根据所述控制命令的类型，从至少两条通信链路中确定用于传输所述控制命令的通信链路；将所述控制命令通过所确定的通信链路发送至图像采集装置，以控制所述图像采集装置采集图像。通过本发明实施例提供的传输控制方法可以满足各种图像采集的需求，提高控制命令传输的灵活性，从而保证拍摄设备拍摄的性能。

Description

传输控制方法、装置、控制器、拍摄设备及飞行器
相关申请交叉引用
申请要求于2018年9月29日申请的、申请号为201811150238.7、申请名称为“传输控制方法、装置、控制器、拍摄设备及飞行器”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本发明实施例涉及飞行器技术领域，尤其涉及一种传输控制方法、传输控制装置、控制器、拍摄设备及飞行器。
背景技术
无人机等飞行器作为目前一种热门的拍摄载具，由于其具有体积小、高机动性、反应灵敏等特点，可获得许多正常摄影无法实现的拍摄角度及拍摄任务，因此，被广泛越来越多的应用于航拍测绘中。
对于无人机在航拍测绘中的应用而言，通常是在无人机的机身上搭载有拍摄设备，拍摄设备用于获取图像，并将图像传输给地面终端设备，以便通过地面终端设备显示该图像。并且，通过地面终端设备控制拍摄设备的拍摄。例如，地面终端设备发送用于控制拍摄的命令或指令给拍摄设备的控制器，控制器再将该命令或指令传输给拍摄设备中用于进行图像采集装置，以控制拍摄。然而，目前控制拍摄的控制器与图像采集装置之间通信方式比较单一，控制拍摄的控制器与图像采集装置之间通常只通过单一的通信链路进行命令或指令的传输，而每一个通信链路在一定程度上对于不同的命令或指令的传输上存在一些缺陷，该缺陷可能会导致图像的传输受到影响。因此，只通过单一的通信链路进行命令或指令的传输的方式不便于满足各种图像采集的需求，从而影响拍摄设备拍摄的性能。
发明内容
本发明的目的在于，提供一种传输控制方法、传输控制装置、控制器、拍摄设备及飞行器，用于解决只通过单一的通信链路进行命令或指令的传输的方式不便于满足各种图像采集的需求的问题。
本发明实施例公开了如下技术方案：
第一方面，本发明实施例提供了一种传输控制方法，所述方法包括：
接收终端设备发送的控制命令；
检测所述控制命令的类型，并根据所述控制命令的类型，从至少两条通信链路中确定用于传输所述控制命令的通信链路；
将所述控制命令通过所确定的通信链路发送至图像采集装置，以控制所述图像采集装置采集图像。
可选的，所述根据所述控制命令的类型，从至少两条通信链路中确定用于传输所述控制命令的通信链路，包括：
根据所述控制命令的类型，确定所述至少两条通信链路中优先级最高的通信链路，并将所确定的优先级最高的通信链路作为传输所述控制命令的通信链路。
可选的，所述检测所述控制命令的类型，并根据所述控制命令的类型，确定所述至少两条通信链路中优先级最高的通信链路，并将所确定的优先级最高的通信链路作为传输所述控制命令的通信链路，包括：
当检测到所述控制命令为图像采集参数设置命令时，确定所述至少两条通信链路中优先级最高的通信链路为USB链路，并将所述USB链路作为传输所述图像采集参数设置命令的通信链路；
其中，所述图像采集参数设置命令用于设置所述图像采集装置采集图像的参数。
可选的，所述至少两条通信链路包括USB链路和第一GPIO链路,所述检测所述控制命令的类型，并根据所述控制命令的类型，确定所述至少两条通信链路中优先级最高的通信链路，并将所确定的优先级最高的通信链路作为传输所述控制命令的通信链路，包括：
当检测到所述控制命令为抓拍命令时，确定所述至少两条通信链路中优先级最高的通信链路为第一GPIO链路，并将所述第一GPIO链路作为传输所述抓拍命令的通信链路；
其中，所述抓拍命令用于控制所述图像采集装置进行抓拍。
可选的，所述方法还包括：
控制所述USB链路的断开和导通；
其中，当检测所述控制命令为抓拍命令时，控制所述USB链路断开，以将所述抓拍命令通过所述第一GPIO链路发送至所述图像采集装置；
当检测所述控制命令为图像采集参数设置命令时，控制所述USB链路导通，以将所述图像采集参数设置命令通过所述USB链路发送至所述图像采集装置。
可选的，所述USB链路上设置有开关，所述控制所述USB链路的断开和导通之前，包括：
接收所述终端设备在其主界面和从界面进行切换时发送的开关命令；
所述控制所述USB链路的断开和导通包括：
根据所述开关命令，控制所述开关的断开和导通；
通过所述开关的断开和导通控制所述USB链路的断开和导通。
可选的，所述开关命令包括开关断开命令和开关闭合命令，所述接收所述终端设备在其主界面和从界面进行切换时发送的开关命令，根据所述开关命令，控制所述开关的断开和导通包括：
当所述终端设备的界面切换至主界面时，接收所述终端设备发送的开关断开命令，根据所述开关断开命令控制所述开关断开；
当所述终端设备的界面切换至从界面时，接收所述终端设备发送的开关闭合命令，根据所述开关闭合命令控制所述开关导通。
可选的，所述开关连接有第二GPIO链路，所述根据所述开关断开命令控制所述开关断开包括：
将所述开关断开命令通过与所述第二GPIO链路发送至所述开关以控制所述开关断开；
所述根据所述开关闭合命令控制所述开关导通包括：
将所述开关闭合命令通过所述第二GPIO链路发送至所述开关以控制所述开关导通。
第二方面，本发明实施例提供了一种传输控制装置，所述装置包括：
控制命令接收模块，用于接收终端设备发送的控制命令；
通信链路确定模块，用于检测所述控制命令的类型，并根据所述控制命令类型，从至少两条通信链路中确定用于传输所述控制命令的通信链路；
控制命令发送模块，用于将所述控制命令通过所确定的通信链路发送至图像采集装置，以控制所述图像采集装置采集图像。
可选的，所述通信链路确定模块根据所述控制命令的类型，从至少两条通信链路中确定用于传输所述控制命令的通信链路，包括：
根据所述控制命令的类型，确定所述至少两条通信链路中优先级最高的通信链路，并将所确定的优先级最高的通信链路作为传输所述控制命令的通信链路。
可选的，所述通信链路确定模块检测所述控制命令的类型，并根据所述控制命令的类型，确定所述至少两条通信链路中优先级最高的通信链路，并将所确定的优先级最高的通信链路作为传输所述控制命令的通信链路，包括：
当检测到所述控制命令为图像采集参数设置命令时，确定所述至少两条通信链路中优先级最高的通信链路为USB链路，并将所述USB链路作为传输所述图像采集参数设置命令的通信链路；
其中，所述图像采集参数设置命令用于设置所述图像采集装置采集图像的参数。
可选的，所述至少两条通信链路包括USB链路和第一GPIO链路,所述通信链路确定模块检测所述控制命令的类型，并根据所述控制命令的类型，确定所述至少两条通信链路中优先级最高的通信链路，并将所确定的优先级最高的通信链路作为传输所述控制命令的通信链路，包括：
当检测到所述控制命令为抓拍命令时，确定所述至少两条通信链路中优先级最高的通信链路为第一GPIO链路，并将所述第一GPIO链路作为传输所述抓拍命令的通信链路；
其中，所述抓拍命令用于控制所述图像采集装置进行抓拍。
可选的，所述装置还包括：
开关控制模块，用于控制所述USB链路的断开和导通；
所述控制命令发送模块具体用于：
当检测所述控制命令为抓拍命令时，控制所述USB链路断开，以使所述控制命令发送模块将所述抓拍命令通过所述第一GPIO链路发送至所述图像采集装置；
当检测所述控制命令为图像采集参数设置命令时，控制所述USB链路导通，以使所述控制命令发送模块将所述图像采集参数设置命令通过所述USB链路发送至所述图像采集装置。
可选的，所述装置还包括：
开关命令接收模块，用于接收所述终端设备在其主界面和从界面进行切换时发送的开关命令；
所述开关控制模块具体用于：
根据所述开关命令，控制设置于所述USB链路上的开关的断开和导通；
通过所述开关的断开和导通控制所述USB链路的断开和导通。
可选的，所述开关命令包括开关断开命令和开关闭合命令；
所述开关命令接收模块接收所述终端设备在其主界面和从界面进行切换时发送的开关命令，所述开关控制模块根据所述开关命令，控制所述开关的断开和导通包括：
当所述终端设备的界面切换至主界面时，所述开关命令接收模块接收所述终端设备发送的开关断开命令，所述开关控制模块根据所述开关断开命令控制所述开关断开；
当所述终端设备的界面切换至从界面时，所述开关命令接收模块接收所述终端设备发送的开关闭合命令，所述开关控制模块根据所述开关闭合命令控制所述开关导通。
可选的，所述开关连接有第二GPIO链路，所述开关控制模块根据所述开关断开命令控制所述开关断开包括：
将所述开关断开命令通过与所述第二GPIO链路发送至所述开关以控制所述开关断开；
所述开关控制模块根据所述开关闭合命令控制所述开关导通包括：
将所述开关闭合命令通过所述第二GPIO链路发送至所述开关以控 制所述开关导通。
第三方面，本发明实施例提供了一种控制器，包括：
至少一个处理器；以及，
与所述至少一个处理器通信连接的存储器；其中，
所述存储器存储有可被所述至少一个处理器执行的指令，所述指令被所述至少一个处理器执行，以使所述至少一个处理器能够执行如上所述的传输控制方法。
第四方面，本发明实施例提供了一种计算机程序产品，所述计算机程序产品包括存储在非易失性计算机可读存储介质上的计算机程序，所述计算机程序包括程序指令，当所述程序指令被计算机执行时，使计算机执行如上所述的传输控制方法。
第五方面，本发明实施例还提供了一种非易失性计算机可读存储介质，所述计算机可读存储介质存储有计算机可执行指令，所述计算机可执行指令用于使计算机执行如上所述的传输控制方法。
第六方面，本发明实施例还提供了一种拍摄设备，包括：图像采集装置、控制器及图传模块，所述图像采集装置与所述图传模块及控制器连接；
所述图像采集装置用于采集图像并将所采集的图像传输至所述图传模块；
所述图传模块用于将所述图像采集装置所采集传输至终端设备；
所述控制器为如上所述的控制器。
第七方面，本发明实施例还提供了一种飞行器，包括：机身和拍摄设备，所述拍摄设备设置于所述机身上；
所述拍摄设备为如上所述的拍摄设备。
在本发明实施例中，基于不同类型的控制命令，从至少两条通信链路中选择与该控制命令的类型所对应的通信链路，以通过所选择的通信链路将控制命令传输给图像采集装置，以控制该图像采集装置采集图像，可以满足各种图像采集的需求，提高控制命令传输的灵活性，从而保证拍摄设备拍摄的性能。
此外，由于通常拍摄设备若采用USB链路作为通信链路时，通过拍摄设备的图像采集装置所采集的图像是直接传输到终端设备，以便通过终端设备实时了解所采集的图像的情况，考虑拍摄设备本身的性能，采用USB链路作为通信链路时，图像采集装置所采集的图像不会保存到拍摄设备的存储空间中，这不便于后续在需要的时候调用所采集图像，基于此，在本发明实施例中，对于抓拍命令，通过至少两条通信链路的第一GPIO链路进行传输；对于非抓拍命令如图像采集参数设置命令，通过至少两条通信链路的USB链路进行传输，可以在抓拍时的同时达到将所采集的图像进行保存的效果，以便于后续在需要的时候调用所采集图像，从而提高用户体验。
附图说明
一个或多个实施例通过与之对应的附图中的图片进行示例性说明，这些示例性说明并不构成对实施例的限定，附图中具有相同参考数字标号的元件表示为类似的元件，除非有特别申明，附图中的图不构成比例限制。
图1是本发明实施例提供的传输控制方法的一种应用环境示意图；
图2是本发明实施例提供的一种无人飞行器的架构示意图；
图3是本发明实施例提供的无人飞行器的拍摄设备的示意图；
图4是本发明实施例提供的一种传输控制方法的流程示意图；
图5是本发明实施例提供的另一种传输控制方法的流程示意图；
图6是本发明实施例提供终端设备的界面的示意图；
图7是本发明实施例提供的通过终端设备的主界面和从界面的切换触发开关的断开和导通的流程示意图；
图8是本发明实施例提供的一种传输控制装置示意图；
图9是本发明实施例提供的控制器硬件结构示意图；
图10是本发明实施例提供的拍摄设备的示意图；
图11是本发明实施例提供的飞行器的示意图。
具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
此外，下面所描述的本发明各个实施方式中所涉及到的技术特征只要彼此之间未构成冲突就可以相互组合。
图1为本发明实施例提供的传输控制方法其中一种应用环境。其中，该应用环境中包括有：无人飞行器100、终端设备200及用户(图未示)。其中，无人飞行器100与终端设备200通信连接，以进行信息的交互。
例如，无人飞行器100将获取的图像传输给终端设备200，以便用户可以通过该终端设备200了解无人飞行器100所获取的图像的情况。或者，终端设备200将控制命令等发送给无人飞行器100，以控制飞行器获取图像，如调整获取图像的参数、调整获取图像的模式等。
无人飞行器100可以是以任何类型的动力驱动的飞行载具或其他可移动设备，包括但不限于多轴旋翼无人飞行器，如四轴旋翼无人飞行器、固定翼飞行器以及直升机等。在本实施例中以四轴旋翼无人飞行器为例进行陈述。
该无人飞行器100可以根据实际情况的需要，具备相应的体积或者动力，从而提供足够的载重能力、飞行速度、飞行续航里程等。
例如，如图2所示，无人飞行器100至少具备一个用于提供飞行动力的动力***以及用于对无人飞行器100的飞行进行控制的飞行控制***。该飞行控制***与动力***通信连接。
该动力***可以包括电子调速器(简称为电调)、一个或多个螺旋桨以及与一个或多个螺旋桨相对应的一个或多个电机。其中，电机连接在电子调速器与螺旋桨之间，电机和螺旋桨设置在对应的无人飞行器100的机臂上。
电子调速器用于接收飞行控制***产生的驱动信号，并根据驱动信号提供驱动电流给电机，以控制电机的转速。电机用于驱动螺旋桨旋转， 从而为无人飞行器100的飞行提供动力，该动力使得无人飞行器100能够实现一个或多个自由度的运动。
在一些实施例中，无人飞行器100可以围绕一个或多个旋转轴旋转。例如，上述旋转轴可以包括横滚轴、平移轴和俯仰轴。可以理解的是，电机可以是直流电机，也可以交流电机。另外，电机可以是无刷电机，也可以有刷电机。
飞行控制***可以包括飞行控制器和传感***。传感***用于测量无人飞行器100的姿态信息，即无人飞行器100在空间的位置信息和状态信息，例如，三维位置、三维角度、三维速度、三维加速度和三维角速度等。传感***例如可以包括陀螺仪、电子罗盘、惯性测量单元(Inertial Measurement Unit，IMU)、视觉传感器、全球导航卫星***和气压计等传感器中的至少一种。例如，全球导航卫星***可以是全球定位***(Global Positioning System，GPS)。
飞行控制器用于控制无人飞行器100的飞行，例如，可以根据传感***测量的姿态信息控制无人飞行器100的飞行。可以理解的是，飞行控制器可以按照预先编好的程序指令对无人飞行器100的飞行进行控制，也可以通过响应来自其它设备的一个或多个控制指令对无人飞行器100的飞行进行控制。
此外，无人飞行器100上还可以添加有一种或者多种功能模块，令无人飞行器100能够实现更多的功能，如进行航拍测绘等。
例如，该无人飞行器100至少具备一个用于获取图像的拍摄设备，以通过该拍摄设备进行航拍测绘等。其中，该拍摄设备可以为相机，如测绘相机、全画幅微单、中画幅的工业级相机、摄像机等。在另一些实施例中，该无人飞行器100还可以提供用于固定安装拍摄设备的固定支架，从而可以使用户根据自身的需要，更换安装在无人飞行器100上的拍摄设备。或者，无人飞行器100还可以包括与该拍摄设备适配的云台，该云台作为一种采集图像的辅助设备，用于搭载拍摄设备，以便将该拍摄设备安装于无人飞行器100的机身上。
下面结合图3对拍摄设备进行具体描述。
如图3所示，该拍摄设备包括图像采集装置、图传模块、控制器。 其中，图像采集装置与图传模块通过用于传输图像的通信链路连接，例如，通过HDMI链路连接。图像采集装置与控制器通过至少两条通信链路连接。控制器与图传模块连接，以控制该图传模块。
该至少两条通信链路包括但不限于串口链路、wifi链路、USB(Universal Serial Bus，通用串行总线)链路、第一GPIO(General Purpose Input Output，通用输入/输出)链路等。在本实施例中以USB链路、第一GPIO链路作为至少两条通信链的示例进行陈述。
其中，该图像采集装置可以为任何合适的能够实现图像采集功能的采集设备，如摄像头等。图像采集装置将所采集的图像通过HDMI(High Definition Multimedia Interface，高清晰度多媒体接口)链路发送给图传模块，图传模块接收到所采集的图像后可将该图像发送给终端设备200，以便通过终端设备200显示该图像。例如，通过控制器控制图传模块以将图像发送给终端设备200。
在一些实施例中，为了保证图像传输的稳定性，拍摄设备还可以包括图像处理模块，用于在将所采集的图像发送给终端设备200之前对该图像进行处理，以便将处理后的图像传输给终端设备200。
例如，图像处理模块首先将所采集的图像转换为符合音视频接口格式的第一图像，如符合HDMI接口格式的第一图像；再将该第一图像转换为符合图像接收端接口格式的第二图像，如符合BT1120接口格式的第二图像；并对第二图像进行编码，如经过H264或H265等进行编码；最后将编码后的图像传输给终端设备200。
该控制器可以为任何合适的可以控制图像采集装置的控制设备，如MCU(Microcontroller Unit,微控制单元)、控制芯片、单片机等等。控制器可以通过发送控制命令给图像采集装置，以对该图像采集装置进行控制。例如，控制图像采集装置采集图像的参数(如焦距参数、曝光参数等)，或者控制图像采集装置采集图像的模式(如抓拍、录像、拍摄等)。
对于拍摄设备中的控制命令的传输而言，由于每个通信链路在一定程度上对于不同的用于控制图像采集装置的控制命令的传输上存在一些缺陷，该缺陷可能会导致图像的传输受到影响。若采用单一的通信链 路进行控制命令的传输，不便于满足各种图像采集的需求。
基于此，图像采集装置与控制器之间设置有至少两条通信链路，以便基于不同类型的控制命令，从至少两条通信链路中选择与控制命令的类型对应的通信链路以传输控制命令。
例如，以至少两条通信链路包括：USB链路及第一GPIO链路。控制器可以通过USB链路或第一GPIO链路将控制命令传输至图像采集装置，以控制图像采集装置，以便于满足各种图像采集的需求。
并且，当通过USB链路传输控制命令时，控制USB链路导通；当不通过USB链路传输控制命令时，控制USB链路断开。其中，可以通过开关控制USB链路的断开和导通。例如，USB链路上设置有该开关，当该开关断开时，USB链路断开；当该开关导通时，USB链路导通。在一些实现方式中，可以通过第二GPIO链路来控制开关的断开和导通，进而控制USB链路的断开和导通。
终端设备200可以是任何类型的用户交互设备。终端设备200可以装配有一种或者多种不同的用户交互设备，用以采集用户指令或者向用户展示或者反馈信息。
这些交互设备包括但不限于：按键、显示屏、触摸屏、扬声器以及遥控操作杆。例如，终端设备200可以装配有触控显示屏，通过该触控显示屏接收用户的触摸操作以生成触摸命令或指令并通过触控显示屏向用户展示信息，如展示图像。
在一些实施例中，终端设备200可以为智能终端设备，例如，手机、平板、个人计算机、可穿戴设备等等。该终端设备200上可以安装有与无人飞行器100相匹配的软件应用程序(APP)。用户可以通过该软件应用程序，将接收到的无人飞行器100发送的图像显示于触控显示屏上。
在另一些实施例中，终端设备200还可以是与无人飞行器100配套的专用控制设备，例如，无人飞行器100的遥控器等，其可以接收来自无人飞行器100的图像并通过内置或者外部连接的显示屏显示。
可以理解的是，上述对于无人飞行器100的各组成部分的命名仅是出于标识的目的，并不应理解为对本发明的实施例的限制。
此外，本发明实施例提供的传输方法还可以进一步的拓展到其他合 适的应用环境中，而不限于图1中所示的应用环境。例如，在实际应用过程中，该应用环境中的无人飞行器100还以为其它任何合适的飞行器，如无人船或无人车等。并且，在该应用环境中还可以包括更多的终端设备200，例如，2个、3个等，也即终端设备200的数量在此不予限定。
实施例1：
图4为本发明实施例提供的一种传输控制方法的流程示意图。本发明实施例的传输控制方法可由具有一定逻辑处理能力的控制设备执行，例如，该传输控制方法可由图1中的无人飞行器100的拍摄设备的控制器执行。
请参阅图4，所述传输控制方法包括：
401：接收终端设备发送的控制命令。
对于无人飞行器在航拍测绘中的应用而言，在图像采集装置通过图传模块将所采集的图像发送给终端设备，以通过终端设备显示该图像的同时，终端设备可以通过发送控制命令以对图像的采集进行控制，以便随时对图像的采集进行调整。
例如，终端设备将控制命令发送给控制器，控制器接收该控制命令后，再将该控制命令传输给图像采集装置，从而控制图像采集装置采集图像。
其中，该控制命令可以为任何合适的用于对图像采集装置采集图像进行控制的命令。例如，该控制命令可以为用于控制图像采集装置采集图像的参数的命令，如图像采集参数设置命令，通过该图像采集参数设置命令可以对采集图像的参数进行调整，例如，调整焦距参数、曝光参数、白平衡等。
或者，该控制命令还可以为用于控制图像采集装置采集图像的模式，如抓拍命令、录像命令等，通过抓拍命令可以控制图像采集装置进行抓拍，通过录像命令可以控制图像采集装置进行录像。
402：检测所述控制命令的类型，并根据所述控制命令的类型，从至少两条通信链路中确定用于传输所述控制命令的通信链路。
控制器可以通过至少两条通信链路中的任意一条通信链路传输控 制命令。对于控制器与图像采集装置之间的控制命令的传输而言，由于每个通信链路在一定程度上对于不同的用于控制图像采集装置的控制命令的传输上存在一些缺陷，该缺陷可能会导致图像的传输受到影响。若采用单一的通信链路进行控制命令的传输，不便于满足各种图像采集的需求。因此，为了满足各种图像采集的需求，可以基于不同类型的控制命令，从至少两条通信链路中选择对应的通信链路进行控制命令的传输。
其中，至少两条通信链路包括但不限于串口链路、wifi链路、USB链路、第一GPIO链路等。
在一些实现方式中，控制器根据所述控制命令的类型，从至少两条通信链路中确定用于传输所述控制命令的通信链路，包括：根据所述控制命令的类型，确定所述至少两条通信链路中优先级最高的通信链路，并将所确定的优先级最高的通信链路作为传输所述控制命令的通信链路。
具体的，控制器检测所述控制命令的类型，并根据所述控制命令的类型，确定所述至少两条通信链路中优先级最高的通信链路，并将所确定的优先级最高的通信链路作为传输所述控制命令的通信链路，包括：
检测所述控制命令是否为抓拍命令，当检测到所述控制命令为抓拍命令时，确定所述至少两条通信链路中优先级最高的通信链路为第一GPIO链路，并将所述第一GPIO链路作为传输所述抓拍命令的通信链路；其中，所述抓拍命令用于控制所述图像采集装置进行抓拍；或者，
当检测到所述控制命令为非抓拍命令时，确定所述至少两条通信链路中优先级最高的通信链路为USB链路，并将所述USB链路作为传输所述图像采集参数设置命令的通信链路。例如，在一些实施例中，以图像采集参数设置命令作为非抓拍命令的示例，当检测到所述控制命令为图像采集参数设置命令时，确定所述至少两条通信链路中优先级最高的通信链路为USB链路，并将所述USB链路作为传输所述图像采集参数设置命令的通信链路；其中，所述图像采集参数设置命令用于设置所述图像采集装置采集图像的参数。
对于至少两条通信链路中的各个通信链路，不同类型的控制命令， 各个通信链路所对应的优先级存在一定的差异。
例如，对于非抓拍命令如图像采集参数设置命令而言，目前比较常用的通信链路是wifi链路和USB链路，因此，其通信协议比较齐全，而第一GPIO链路与串口链路相对来说不常用，因此，在一定程度上协议相对而言不是特别齐全。而若采用至少两条通信链路中的wifi链路作为传输图像采集参数设置命令的通信链路，会干扰无人飞行器的2.4G频段的图传。因此，对于图像采集参数设置命令而言，至少两条通信链路中优先级最高的通信链路为USB链路。也即，采用USB链路作为传输图像采集参数设置命令等非抓拍命令的通信链路。
对于抓拍命令而言，若采用至少两条通信链路中的USB链路作为通信链路，抓拍时通过图像采集装置所采集的图像是直接通过图传模块传输到终端设备，以便通过终端设备实时了解所采集的图像的情况，考虑无人飞行器的拍摄设备本身的性能，如果在抓拍时一边传输图像一边将图像存入存储空间，对拍摄设备本身性能挑战比较大，因此，采用USB链路作为传输抓拍链路的通信链路时，图像采集装置所采集的图像不会保存到拍摄设备的存储空间中，这不便于后续在需要的时候调用所采集图像。类似的，若采用至少两条通信链路中的wifi链路作为传输图像采集参数设置命令的通信链路，会干扰无人飞行器的2.4G频段的图传。因此，对于抓拍命令而言，至少两条通信链路中优先级最高的通信链路为第一GPIO链路。也即，采用第一GPIO链路作为传输抓拍命令的通信链路。
403：将所述控制命令通过所确定的通信链路发送至图像采集装置，以控制所述图像采集装置采集图像。
其中，对于抓拍命令，通过至少两条通信链路的第一GPIO链路将该抓拍命令发送至图像采集装置，以控制图像采集装置进行抓拍；对于图像采集参数设置命令等非抓拍命令，通过至少两条通信链路的USB链路将该图像采集参数设置命令发送至图像采集装置，以调整采集图像的参数。从而可以在抓拍时的同时达到将所采集的图像进行保存的效果，以便于后续在需要的时候调用所采集图像，从而提高用户体验。
在本发明实施例中，基于不同类型的控制命令，从至少两条通信链 路中选择与该控制命令的类型所对应的通信链路，以通过所选择的通信链路将该控制命令传输给图像采集装置，以控制该图像采集装置采集图像，可以满足各种图像采集的需求，提高控制命令传输的灵活性，从而保证无人飞行器的拍摄设备拍摄的性能。
并且，通过至少两条通信链路的第一GPIO链路将该抓拍命令发送至图像采集装置，以控制图像采集装置进行抓拍从而使得可以在抓拍时的同时达到将所采集的图像进行保存的效果，以便于后续在需要的时候调用所采集图像，提高用户体验。
实施例2：
图5为本发明实施例提供的另一种传输控制方法的流程示意图。本发明实施例的传输控制方法可由具有一定逻辑处理能力的控制设备执行，例如，该传输控制方法可由图1中的无人飞行器100的拍摄设备的控制器执行。
请参阅图5，所述传输控制方法包括：
501：接收终端设备发送的控制命令。
502：检测所述控制命令的类型，并根据所述控制命令的类型，从至少两条通信链路中确定用于传输所述控制命令的通信链路。
503：接收所述终端设备在其主界面和从界面进行切换时发送的开关命令。
为了控制USB链路的断开和导通，可以在所述USB链路上设置用于控制USB链路的断开和导通的开关。当用户操作终端设备，使得终端设备在其主界面和从界面进行切换时，控制器可以接收开关命令，该开关命令用于控制开关的断开和导通，进而控制所述USB链路的断开和导通。
其中，主界面是终端设备默认的主操作界面，从界面是终端设备的非主界面。例如，该从界面可以为参数设置界面等。
504：控制所述USB链路的断开和导通。
当至少两条通信链路包括USB链路及第一GPIO链路时，如果USB链路一直导通，在图像采集装置抓拍时，图像不会保存到拍摄设备的存储空间，如SD卡中，会直接通过图传模块传输给终端设备，因此，为 了避免出现抓拍时图像不保存到拍摄设备的存储空间的问题，通过控制器对USB链路的断开和导通进行控制，也即，当检测所述控制命令为抓拍命令时，控制所述USB链路断开，以将所述抓拍命令通过所述第一GPIO链路发送至图像采集装置；当检测所述控制命令为非抓拍命令时，控制所述USB链路导通，例如，在一些实施例中，当检测到所述控制命令为图像采集参数设置命令时，控制所述USB链路导通，以将所述图像采集参数设置命令通过所述USB链路发送至图像采集装置。
在一些实现方式中，控制器控制所述USB链路的断开和导通包括：根据所述开关命令，控制所述开关的断开和导通；通过所述开关的断开和导通控制所述USB链路的断开和导通。其中，控制USB链路的断开包括卸载USB，控制USB链路导通包括加载USB。
以图3为例，USB链路中设置有控制USB链路断开和导通的开关，当控制器控制开关断开时，USB链路断开；当控制器控制开关导通时，USB链路导通。
由于USB链路导通和断开涉及大量资源消耗，为了防止过多频繁的进行USB链路的断开或导通的操作，控制器对外提供USB链路的断开或导通的接口，也即在终端设备的主界面和从界面切换时接收开关命令，从而触发开关的断开和导通，进而控制USB链路的断开和导通。
其中，所述开关命令包括开关断开命令和开关闭合命令。
在一些实现方式中，控制器接收所述终端设备在其主界面和从界面进行切换时发送的开关命令，根据所述开关命令，控制所述开关的断开和导通包括：当所述终端设备的界面切换至主界面时，接收所述终端设备发送的开关断开命令，根据所述开关断开命令控制所述开关断开；当所述终端设备的界面切换至从界面时，接收所述终端设备发送的开关闭合命令，根据所述开关闭合命令控制所述开关导通。
其中，所述开关连接有第二GPIO链路，控制器根据所述开关断开命令控制所述开关断开包括：将所述开关断开命令通过与所述第二GPIO链路发送至所述开关以控制所述开关断开。
控制器根据所述开关闭合命令控制所述开关导通包括：将所述开关闭合命令通过所述第二GPIO链路发送至所述开关以控制所述开关导通。
下面结合图6和图7，对通过终端设备的主界面和从界面切换触发开关的断开和导通，进而控制USB链路的断开和导通进行具体描述。
请参阅图6，为终端设备的界面的示意图，其中，终端设备的界面包括主界面和从界面，并且，以参数设置界面作为从界面的示例。在终端设备的主界面中包括抓拍按钮及参数设置按钮(如图6的左图所示)；在终端设备的从界面中包括返回主界面按钮、聚焦参数设置按钮、曝光参数设置按钮、白平衡按钮等等(如图6的右图所示)。
其中，主界面与从界面可以进行切换。例如，当用户点击或触摸主界面中的参数设置按钮，由主界面切换至从界面；当用户点击或触摸从界面中的返回主界面按钮，由从界面切换至主界面。
请参阅图7，为通过终端设备的界面切换触发开关的断开和导通的流程示意图。拍摄设备在初始时，如上电后，开关默认为断开的。
当终端设备接收到用户的用于使终端设备进入主界面的第一操作时，终端设备进入主界面，在终端设备进入到主界面的同时会触发终端设备发送开关断开命令给控制器，以控制开关断开。例如，当控制器接收到开关断开命令后，将开关断开命令通过第二GPIO链路发送开关以控制开关断开，从而使得USB链路断开，也即卸载USB，以使让图像采集装置处于待抓拍的状态。
在终端设备进入主界面，USB链路断开后，若终端设备接收到用户的用于控制抓拍的第二操作，如用户点击或触摸抓拍按钮时触发终端设备发送抓拍命令给控制器，控制器接收到抓拍命令后，无需再发送开关断开命令给开关，而是直接将抓拍命令通过第一GPIO链路发送给图像采集装置，以控制图像采集装置进行抓拍。
在终端设备进入主界面USB链路断开后，若终端设备接收到用户的用于使终端设备进入从界面的第三操作，如用户点击或触摸参数设置按钮时，终端设备进入从界面，在终端设备进入到从界面的同时会触发终端设备发送开关闭合命令给控制器，以控制开关导通。例如，当控制器接收到开关闭合命令后，将开关闭合命令通过第二GPIO链路发送开关以控制开关导通，从而使得USB链路导通，也即加载USB。
在终端设备进入从界面，USB链路导通后，若终端设备接收到用户 的用于调整采集图像的参数的第四操作，如用户点击或触摸聚焦参数设置按钮、曝光参数设置按钮、白平衡按钮等等时触发终端设备发送图像采集参数设置命令给控制器，控制器接收到图像采集参数设置命令后，无需再发送开关闭合命令给开关，而是直接将图像采集参数设置命令通过第一GPIO链路发送给图像采集装置，以调整图像采集装置采集图像的参数。
在终端设备进入从界面USB，链路导通后，若用户点击或触摸返回主界面按钮时，终端设备又会进入主界面。
在控制器发送控制模块给图像采集装置，以控制所述图像采集装置采集图像的过程中，是通过终端设备的主界面和从界面的切换来控制开关的断开和导通进而控制所述USB链路的断开和导通，控制器在发送抓拍命令时不需要再发送开关断开命令，在发送图像采集参数设置命令时不需要再发送开关闭合命令。这样，避免了高度频繁断开或导通USB链路导致图像采集装置采集图像不稳定的现象。
505：将所述控制命令通过所确定的通信链路发送至图像采集装置，以控制所述图像采集装置采集图像。
基于步骤504，控制器将所述控制命令通过所确定的通信链路发送至图像采集装置，以控制所述图像采集装置采集图像包括：当所述USB链路断开时，通过所述第一GPIO链路将所述抓拍命令发送至图像采集装置；当所述USB链路导通时，通过所述USB链路将非抓拍命令如图像采集参数设置命令发送至图像采集装置。
根据本发明实施例的描述可以理解，在不同实施例中，在不矛盾的情况下，所述步骤501-505可以有不同的执行顺序。例如，先执行步骤503-504，再执行步骤502等。
还需要说明的是，本发明实施例中所述步骤501-505中未详尽描述的技术细节，可参考上述实施例的具体描述。
在本发明实施例中，基于不同类型的控制命令，从至少两条通信链路中选择与该控制命令的类型所对应的通信链路，以通过所选择的通信链路将该控制命令传输给图像采集装置，以控制该图像采集装置采集图像，可以满足各种图像采集的需求，提高控制命令传输的灵活性，从而 保证无人飞行器的拍摄设备拍摄的性能。
并且，通过至少两条通信链路的第一GPIO链路将该抓拍命令发送至图像采集装置，以控制图像采集装置进行抓拍从而使得可以在抓拍时的同时达到将所采集的图像进行保存的效果，以便于后续在需要的时候调用所采集图像，提高用户体验。
此外，通过终端设备的界面切换触发开关的断开和导通，进而控制USB链路的断开和导通，可以避免高度频繁断开或导通USB链路导致图像采集装置采集图像不稳定的现象，减少资源消耗。
实施例3：
图8为本发明实施例提供的一种传输控制装置的示意图。其中，所述传输控制装置80可配置于图1中的无人飞行器100的拍摄设备的控制器中。
参照图8，所述传输控制装置80包括：控制命令接收模块801、通信链路确定模块802、开关命令接收模块803、开关控制模块804以及控制命令发送模块805。
具体的，控制命令接收模块801用于接收终端设备发送的控制命令。
终端设备可以通过发送控制命令以对图像的采集进行控制，以便随时对图像的采集进行调整。例如，终端设备将控制命令发送给控制命令接收模块801，控制命令接收模块801接收该控制命令后，再将该控制命令传输给图像采集装置，以控制图像采集装置采集图像。
其中，该控制命令可以为任何合适的用于对图像采集装置采集图像进行控制的命令。例如，该控制命令可以为用于控制图像采集装置采集图像的参数的命令，如图像采集参数设置命令。或者，该控制命令还可以为用于控制图像采集装置采集图像的模式，如抓拍命令、录像命令等。
具体的，通信链路确定模块802用于检测所述控制命令的类型，并根据所述控制命令的类型，从至少两条通信链路中确定用于传输所述控制命令的通信链路。
对于控制命令的传输而言，由于至少两条通信链路中的各个通信链路在一定程度上对于不同的用于控制图像采集装置的控制命令的传输 上存在一些缺陷，该缺陷可能会导致图像的传输受到影响。若采用单一的通信链路进行控制命令的传输，不便于满足各种图像采集的需求。因此，为了满足各种图像采集的需求，通信链路确定模块802可以基于不同类型的控制命令，从至少两条通信链路中选择对应的通信链路进行控制命令的传输。
其中，至少两条通信链路包括但不限于串口链路、wifi链路、USB链路、第一GPIO链路等。
在一些实现方式中，通信链路确定模块802根据所述控制命令的类型，从至少两条通信链路中确定用于传输所述控制命令的通信链路，包括：根据所述控制命令的类型，确定所述至少两条通信链路中优先级最高的通信链路，并将所确定的优先级最高的通信链路作为传输所述控制命令的通信链路。
具体的，通信链路确定模块802检测所述控制命令的类型，并根据所述控制命令的类型，确定所述至少两条通信链路中优先级最高的通信链路，并将所确定的优先级最高的通信链路作为传输所述控制命令的通信链路，包括：
检测所述控制命令是否为抓拍命令，当检测到所述控制命令为抓拍命令时，确定所述至少两条通信链路中优先级最高的通信链路为第一GPIO链路，并将所述第一GPIO链路作为传输所述抓拍命令的通信链路；其中，所述抓拍命令用于控制所述图像采集装置进行抓拍；或者，
当检测到所述控制命令为非抓拍命令时，确定所述至少两条通信链路中优先级最高的通信链路为USB链路，并将所述USB链路作为传输所述图像采集参数设置命令的通信链路。例如，在一些实施例中，以图像采集参数设置命令作为非抓拍命令的示例，当检测到所述控制命令为抓拍命令时，确定所述至少两条通信链路中优先级最高的通信链路为第一GPIO链路，并将所述第一GPIO链路作为传输所述抓拍命令的通信链路；其中，所述抓拍命令用于控制所述图像采集装置进行抓拍。
对于至少两条通信链路中的各个通信链路，不同类型的控制命令，各个通信链路所对应的优先级存在一定的差异。
例如，对于非抓拍命令如图像采集参数设置命令而言，至少两条通 信链路中优先级最高的通信链路为USB链路。也即，通信链路确定模块802确定USB链路作为传输图像采集参数设置命令等非抓拍命令的通信链路。
对于抓拍命令而言，若通信链路确定模块802将USB链路确定为传输抓拍命令的通信链路，抓拍时通过图像采集装置所采集的图像是直接通过图传模块传输到终端设备，以便通过终端设备实时了解所采集的图像的情况，考虑无人飞行器的拍摄设备本身的性能，如果在抓拍时一边传输图像一边将图像存入存储空间，对拍摄设备本身性能挑战比较大，因此，采用USB链路作为传输抓拍链路的通信链路时，图像采集装置所采集的图像不会保存到拍摄设备的存储空间中，这不便于后续在需要的时候调用所采集图像。因此，对于抓拍命令而言，至少两条通信链路中优先级最高的通信链路为第一GPIO链路。也即，通信链路确定模块802确定第一GPIO链路作为传输抓拍命令的通信链路。
具体的，开关命令接收模块803用于接收所述终端设备在其主界面和从界面进行切换时发送的开关命令。
为了控制USB链路的断开和导通，可以在所述USB链路上设置用于控制USB链路的断开和导通的开关。当用户操作终端设备，使得终端设备在其主界面和从界面进行切换时，开关命令接收模块803可以接收开关命令，该开关命令用于控制开关的断开和导通，进而控制所述USB链路的断开和导通。
其中，主界面是终端设备默认的主操作界面，从界面是终端设备的非主界面。例如，该从界面可以为参数设置界面等。
具体的，开关控制模块804用于控制所述USB链路的断开和导通。
当至少两条通信链路包括USB链路及第一GPIO链路时，如果USB链路一直导通，在图像采集装置抓拍时，图像不会保存到拍摄设备的存储空间，如SD卡中，会直接通过图传模块传输给终端设备，因此，为了避免出现抓拍时图像不保存到拍摄设备的存储空间的问题，通过开关控制模块804对USB链路的断开和导通进行控制，也即，当检测所述控制命令为抓拍命令时，开关控制模块804控制所述USB链路断开，以使控制命令发送模块805将所述抓拍命令通过所述第一GPIO链路发送至 图像采集装置；当检测所述控制命令为非抓拍命令时，开关控制模块804控制所述USB链路导通，例如，在一些实施例中，当检测到所述控制命令为图像采集参数设置命令时，控制所述USB链路导通，以使控制命令发送模块805将所述图像采集参数设置命令通过所述USB链路发送至图像采集装置。
在一些实现方式中，开关控制模块804具体用于：根据所述开关命令，控制所述开关的断开和导通；通过所述开关的断开和导通控制所述USB链路的断开和导通。
以图3为例，USB链路中设置有控制USB链路断开和导通的开关，当控制器控制开关断开时，USB链路断开；当控制器控制开关导通时，USB链路导通。
由于USB链路导通和断开涉及大量资源消耗，为了防止过多频繁的进行USB链路的断开或导通的操作，对外提供USB链路的断开或导通的接口，也即在终端设备的主界面和从界面切换时接收开关命令，从而触发开关的断开和导通，进而控制USB链路的断开和导通。
其中，所述开关命令包括开关断开命令和开关闭合命令。
在一些实现方式中，所述开关命令接收模块803接收所述终端设备在其主界面和从界面进行切换时发送的开关命令，所述开关控制模块804根据所述开关命令，控制所述开关的断开和导通包括：当所述终端设备的界面切换至主界面时，所述开关命令接收模块803接收所述终端设备发送的开关断开命令，所述开关控制模块804根据所述开关断开命令控制所述开关断开；当所述终端设备的界面切换至从界面时，所述开关命令接收模块803接收所述终端设备发送的开关闭合命令，所述开关控制模块804根据所述开关闭合命令控制所述开关导通。
其中，所述开关连接有第二GPIO链路，开关控制模块804根据所述开关断开命令控制所述开关断开包括：将所述开关断开命令通过与所述第二GPIO链路发送至所述开关以控制所述开关断开。
开关控制模块804根据所述开关闭合命令控制所述开关导通包括：将所述开关闭合命令通过所述第二GPIO链路发送至所述开关以控制所述开关导通。
开关控制模块804通过终端设备的主界面和从界面的切换来控制开关的断开和导通进而控制所述USB链路的断开和导通，以便于后续控制命令发送模块805在发送抓拍命令时不需要再发送开关断开命令，在发送图像采集参数设置命令时不需要再发送开关闭合命令。这样，避免了高度频繁断开或导通USB链路导致图像采集装置采集图像不稳定的现象。
具体的，控制命令发送模块805用于将所述控制命令通过所确定的通信链路发送至图像采集装置，以控制所述图像采集装置采集图像。
控制命令发送模块805具体用于：当所述USB链路断开时，通过所述第一GPIO链路将所述抓拍命令发送至图像采集装置，以控制图像采集装置进行抓拍；当所述USB链路导通时，通过所述USB链路将非抓拍命令如图像采集参数设置命令发送至图像采集装置，以调整采集图像的参数。从而可以在抓拍时的同时达到将所采集的图像进行保存的效果，以便于后续在需要的时候调用所采集图像，从而提高用户体验。
需要说明的是，在一些实施例中，开关命令接收模块803和/或开关控制模块804在不同的实施例中，可以不是传输控制装置80的必要模块，也即，在一些实施例中，开关命令接收模块803和/或开关控制模块804可以省略。
还需要说明的是，在本发明实施例中，所述传输控制装置80可执行任意方法实施例所提供的传输控制方法，具备执行方法相应的功能模块和有益效果。未在传输控制装置80的实施例中详尽描述的技术细节，可参见本方法实施例所提供的传输控制方法。
实施例4：
图9为本发明实施例提供的控制器硬件结构示意图。所述控制器可以为上述无人飞行器100的拍摄设备的控制器等。如图9所示，所述控制器90包括：
一个或多个处理器901以及存储器902，图9中以一个处理器901为例。
处理器901和存储器902可以通过总线或者其他方式连接，图9中以通过总线连接为例。
存储器902作为一种非易失性计算机可读存储介质，可用于存储非易失性软件程序、非易失性计算机可执行程序以及模块，如本发明实施例提供的传输控制方法对应的程序指令/模块(例如，附图8所示的控制命令接收模块801、通信链路确定模块802、开关命令接收模块803、开关控制模块804以及控制命令发送模块805)。处理器901通过运行存储在存储器902中的非易失性软件程序、指令以及模块，从而执行控制器的各种功能应用以及数据处理，即实现所述方法实施例提供的传输控制方法。
存储器902可以包括存储程序区和存储数据区，其中，存储程序区可存储操作***、至少一个功能所需要的应用程序；存储数据区可存储根据控制器使用所创建的数据等。此外，存储器902可以包括高速随机存取存储器，还可以包括非易失性存储器，例如至少一个磁盘存储器件、闪存器件、或其他非易失性固态存储器件。在一些实施例中，存储器902可选包括相对于处理器901远程设置的存储器，这些远程存储器可以通过网络连接至控制器。所述网络的实施例包括但不限于互联网、企业内部网、局域网、移动通信网及其组合。
所述一个或者多个模块存储在所述存储器902中，当被所述一个或者多个处理器901执行时，执行本发明实施例提供的传输控制方法，例如，执行以上描述的图6中的方法步骤501至步骤505，或实现图8中的801-805模块的功能。
示例性地，该控制器90还可以包括通信接口，该通信接口用以实现与其他设备，如终端设备等，进行通信。控制器90包括的其他装置在此不予限定。
所述控制器90可执行本发明实施例提供的传输控制方法，具备执行方法相应的功能模块和有益效果。未在控制器实施例中详尽描述的技术细节，可参见本发明实施例提供的传输控制方法。
本发明实施例提供了一种计算机程序产品，所述计算机程序产品包括存储在非易失性计算机可读存储介质上的计算机程序，所述计算机程序包括程序指令，当所述程序指令被计算机执行时，使所述计算机执行本发明实施例提供的传输控制方法。例如，执行以上描述的图6中的方 法步骤501至步骤505，或实现图8中的801-805模块的功能。
本发明实施例提供了一种非易失性计算机可读存储介质，所述计算机可读存储介质存储有计算机可执行指令，所述计算机可执行指令用于使计算机执行本发明实施例提供的传输控制方法。例如，执行以上描述的图6中的方法步骤501至步骤505，或实现图8中的801-805模块的功能。
实施例5：
图10为本发明实施例提供的拍摄设备的示意图。其中，该拍摄设备可以为图1中的无人飞行器100的拍摄设备。拍摄设备400包括：图像采集装置410、上述控制器90及图传模块420，所述图像采集装置410与所述图传模块420及控制器90连接。其中，如图3所示，拍摄设备400中各个组件的具体连接关系的描述可参考上述描述，因此，在此处不赘述。
所述图像采集装置410用于采集图像并将所采集的图像传输至所述图传模块420。所述图传模块420用于将所述图像采集装置410所采集传输至终端设备。所述控制器90用于将控制命令通过根据所述控制命令的类型从至少两条通信链路中所确定的用于传输所述控制命令的通信链路至图像采集装置410，以控制所述图像采集装置410采集图像，从而满足各种图像采集的需求，提高控制命令传输的灵活性，保证拍摄设备400拍摄的性能。
实施例6：
图11为本发明实施例提供的飞行器的示意图。其中，该飞行器500可以为图1中的无人飞行器100。该飞行器500包括：机身510和上述拍摄设备400。其中，该拍摄设备400设置于机身510上。通过该拍摄设备400可以满足各种图像采集的需求，保证拍摄性能，提高用户体验。
需要说明的是，以上所描述的装置实施例仅仅是示意性的，其中所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为 单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部模块来实现本实施例方案的目的。
通过以上的实施例的描述，本领域普通技术人员可以清楚地了解到各实施例可借助软件加通用硬件平台的方式来实现，当然也可以通过硬件。本领域普通技术人员可以理解实现所述实施例方法中的全部或部分流程是可以通过计算机程序指令相关的硬件来完成，所述的程序可存储于计算机可读取存储介质中，该程序在执行时，可包括如所述各方法的实施例的流程。其中，所述的存储介质可为磁碟、光盘、只读存储记忆体(Read-Only Memory,ROM)或随机存储记忆体(Random Access Memory,RAM)等。
最后应说明的是：以上实施例仅用以说明本发明的技术方案，而非对其限制；在本发明的思路下，以上实施例或者不同实施例中的技术特征之间也可以进行组合，步骤可以以任意顺序实现，并存在如上所述的本发明的不同方面的许多其它变化，为了简明，它们没有在细节中提供；尽管参照前述实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明各实施例技术方案的范围。

Claims (19)

  1. 一种传输控制方法，其特征在于，所述方法包括：
    接收终端设备发送的控制命令；
    检测所述控制命令的类型，并根据所述控制命令的类型，从至少两条通信链路中确定用于传输所述控制命令的通信链路；
    将所述控制命令通过所确定的通信链路发送至图像采集装置，以控制所述图像采集装置采集图像。
  2. 根据权利要求1所述的方法，其特征在于，所述根据所述控制命令的类型，从至少两条通信链路中确定用于传输所述控制命令的通信链路，包括：
    根据所述控制命令的类型，确定所述至少两条通信链路中优先级最高的通信链路，并将所确定的优先级最高的通信链路作为传输所述控制命令的通信链路。
  3. 根据权利要求2所述的方法，其特征在于，所述检测所述控制命令的类型，并根据所述控制命令的类型，确定所述至少两条通信链路中优先级最高的通信链路，并将所确定的优先级最高的通信链路作为传输所述控制命令的通信链路，包括：
    当检测到所述控制命令为图像采集参数设置命令时，确定所述至少两条通信链路中优先级最高的通信链路为USB链路，并将所述USB链路作为传输所述图像采集参数设置命令的通信链路；
    其中，所述图像采集参数设置命令用于设置所述图像采集装置采集图像的参数。
  4. 根据权利要求3所述的方法，其特征在于，所述至少两条通信链路包括USB链路和第一GPIO链路,所述检测所述控制命令的类型，并根据所述控制命令的类型，确定所述至少两条通信链路中优先级最高的 通信链路，并将所确定的优先级最高的通信链路作为传输所述控制命令的通信链路，包括：
    当检测到所述控制命令为抓拍命令时，确定所述至少两条通信链路中优先级最高的通信链路为第一GPIO链路，并将所述第一GPIO链路作为传输所述抓拍命令的通信链路；
    其中，所述抓拍命令用于控制所述图像采集装置进行抓拍。
  5. 根据权利要求4所述的方法，其特征在于，所述方法还包括：
    控制所述USB链路的断开和导通；
    其中，当检测所述控制命令为抓拍命令时，控制所述USB链路断开，以将所述抓拍命令通过所述第一GPIO链路发送至所述图像采集装置；
    当检测所述控制命令为图像采集参数设置命令时，控制所述USB链路导通，以将所述图像采集参数设置命令通过所述USB链路发送至所述图像采集装置。
  6. 根据权利要求5所述的方法，其特征在于，所述USB链路上设置有开关，所述控制所述USB链路的断开和导通之前，包括：
    接收所述终端设备在其主界面和从界面进行切换时发送的开关命令；
    所述控制所述USB链路的断开和导通包括：
    根据所述开关命令，控制所述开关的断开和导通；
    通过所述开关的断开和导通控制所述USB链路的断开和导通。
  7. 根据权利要求6所述的方法，其特征在于，所述开关命令包括开关断开命令和开关闭合命令，所述接收所述终端设备在其主界面和从界面进行切换时发送的开关命令，根据所述开关命令，控制所述开关的断开和导通包括：
    当所述终端设备的界面切换至主界面时，接收所述终端设备发送的开关断开命令，根据所述开关断开命令控制所述开关断开；
    当所述终端设备的界面切换至从界面时，接收所述终端设备发送的 开关闭合命令，根据所述开关闭合命令控制所述开关导通。
  8. 根据权利要求7所述的方法，其特征在于，所述开关连接有第二GPIO链路，所述根据所述开关断开命令控制所述开关断开包括：
    将所述开关断开命令通过与所述第二GPIO链路发送至所述开关以控制所述开关断开；
    所述根据所述开关闭合命令控制所述开关导通包括：
    将所述开关闭合命令通过所述第二GPIO链路发送至所述开关以控制所述开关导通。
  9. 一种传输控制装置，其特征在于，所述装置包括：
    控制命令接收模块，用于接收终端设备发送的控制命令；
    通信链路确定模块，用于检测所述控制命令的类型，并根据所述控制命令的类型，从至少两条通信链路中确定用于传输所述控制命令的通信链路；
    控制命令发送模块，用于将所述控制命令通过所确定的通信链路发送至图像采集装置，以控制所述图像采集装置采集图像。
  10. 根据权利要求9所述的装置，其特征在于，所述通信链路确定模块根据所述控制命令的类型，从至少两条通信链路中确定用于传输所述控制命令的通信链路，包括：
    根据所述控制命令的类型，确定所述至少两条通信链路中优先级最高的通信链路，并将所确定的优先级最高的通信链路作为传输所述控制命令的通信链路。
  11. 根据权利要求10所述的装置，其特征在于，所述通信链路确定模块检测所述控制命令的类型，并根据所述控制命令的类型，确定所述至少两条通信链路中优先级最高的通信链路，并将所确定的优先级最高的通信链路作为传输所述控制命令的通信链路，包括：
    当检测到所述控制命令为图像采集参数设置命令时，确定所述至少 两条通信链路中优先级最高的通信链路为USB链路，并将所述USB链路作为传输所述图像采集参数设置命令的通信链路；
    其中，所述图像采集参数设置命令用于设置所述图像采集装置采集图像的参数。
  12. 根据权利要求11所述的装置，其特征在于，所述至少两条通信链路包括USB链路和第一GPIO链路,所述通信链路确定模块检测所述控制命令的类型，并根据所述控制命令的类型，确定所述至少两条通信链路中优先级最高的通信链路，并将所确定的优先级最高的通信链路作为传输所述控制命令的通信链路，包括：
    当检测到所述控制命令为抓拍命令时，确定所述至少两条通信链路中优先级最高的通信链路为第一GPIO链路，并将所述第一GPIO链路作为传输所述抓拍命令的通信链路；
    其中，所述抓拍命令用于控制所述图像采集装置进行抓拍。
  13. 根据权利要求12所述的装置，其特征在于，所述装置还包括：
    开关控制模块，用于控制所述USB链路的断开和导通；
    所述控制命令发送模块具体用于：
    当检测所述控制命令为抓拍命令时，控制所述USB链路断开，以使所述控制命令发送模块将所述抓拍命令通过所述第一GPIO链路发送至所述图像采集装置；
    当检测所述控制命令为图像采集参数设置命令时，控制所述USB链路导通，以使所述控制命令发送模块将所述图像采集参数设置命令通过所述USB链路发送至所述图像采集装置。
  14. 根据权利要求13所述的装置，其特征在于，所述装置还包括：
    开关命令接收模块，用于接收所述终端设备在其主界面和从界面进行切换时发送的开关命令；
    所述开关控制模块具体用于：
    根据所述开关命令，控制设置于所述USB链路上的开关的断开和导 通；
    通过所述开关的断开和导通控制所述USB链路的断开和导通。
  15. 根据权利要求14所述的装置，其特征在于，所述开关命令包括开关断开命令和开关闭合命令；
    所述开关命令接收模块接收所述终端设备在其主界面和从界面进行切换时发送的开关命令，所述开关控制模块根据所述开关命令，控制所述开关的断开和导通包括：
    当所述终端设备的界面切换至主界面时，所述开关命令接收模块接收所述终端设备发送的开关断开命令，所述开关控制模块根据所述开关断开命令控制所述开关断开；
    当所述终端设备的界面切换至从界面时，所述开关命令接收模块接收所述终端设备发送的开关闭合命令，所述开关控制模块根据所述开关闭合命令控制所述开关导通。
  16. 根据权利要求15所述的装置，其特征在于，所述开关连接有第二GPIO链路，所述开关控制模块根据所述开关断开命令控制所述开关断开包括：
    将所述开关断开命令通过与所述第二GPIO链路发送至所述开关以控制所述开关断开；
    所述开关控制模块根据所述开关闭合命令控制所述开关导通包括：
    将所述开关闭合命令通过所述第二GPIO链路发送至所述开关以控制所述开关导通。
  17. 一种控制器，其特征在于，包括：
    至少一个处理器；以及，
    与所述至少一个处理器通信连接的存储器；其中，
    所述存储器存储有可被所述至少一个处理器执行的指令，所述指令被所述至少一个处理器执行，以使所述至少一个处理器能够执行权利要求1-8的任一项所述的方法。
  18. 一种拍摄设备，其特征在于，包括：图像采集装置、控制器及图传模块，所述图像采集装置与所述图传模块及控制器连接；
    所述图像采集装置用于采集图像并将所采集的图像传输至所述图传模块；
    所述图传模块用于将所述图像采集装置所采集传输至终端设备；
    所述控制器为权利要求17所述的控制器。
  19. 一种飞行器，其特征在于，包括：机身和拍摄设备，所述拍摄设备设置于所述机身上；
    所述拍摄设备为权利要求18所述的拍摄设备。
PCT/CN2019/088763 2018-09-29 2019-05-28 传输控制方法、装置、控制器、拍摄设备及飞行器 WO2020062904A1 (zh)

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