CN108924520B

CN108924520B - Transmission control method, device, controller, shooting equipment and aircraft

Info

Publication number: CN108924520B
Application number: CN201811150238.7A
Authority: CN
Inventors: 李昭早
Original assignee: Shenzhen Autel Intelligent Aviation Technology Co Ltd
Current assignee: Shenzhen Autel Intelligent Aviation Technology Co Ltd
Priority date: 2018-09-29
Filing date: 2018-09-29
Publication date: 2024-04-02
Anticipated expiration: 2038-09-29
Also published as: CN108924520A; WO2020062904A1

Abstract

The embodiment of the invention relates to the technical field of aircrafts and discloses a transmission control method, a transmission control device, a transmission control controller, shooting equipment and an aircraft. Wherein the method comprises the following steps: receiving a control command sent by terminal equipment; detecting the type of the control command, and determining a communication link for transmitting the control command from at least two communication links according to the type of the control command; and sending the control command to an image acquisition device through the determined communication link so as to control the image acquisition device to acquire images. The transmission control method provided by the embodiment of the invention can meet the requirements of various image acquisition, and improves the flexibility of control command transmission, thereby ensuring the shooting performance of shooting equipment.

Description

Transmission control method, device, controller, shooting equipment and aircraft

Technical Field

The embodiment of the invention relates to the technical field of aircrafts, in particular to a transmission control method, a transmission control device, a controller, shooting equipment and an aircraft.

Background

As a popular shooting carrier at present, unmanned aerial vehicles and other aircrafts have the characteristics of small volume, high maneuverability, sensitive response and the like, and can obtain a plurality of shooting angles and shooting tasks which cannot be realized by normal shooting, so that the unmanned aerial vehicles and other aircrafts are widely and increasingly applied to aerial shooting and mapping.

For unmanned aerial vehicle applications in aerial mapping, it is common to have a camera device on the fuselage of the unmanned aerial vehicle, which is used to capture and transmit images to a ground terminal device for display of the images by the ground terminal device. And, shooting by the shooting device is controlled by the ground terminal device. For example, the ground terminal device sends a command or instruction for controlling shooting to the controller of the shooting device, and the controller transmits the command or instruction to the shooting device for performing image acquisition device so as to control shooting. However, the communication manner between the controller for controlling shooting and the image acquisition device is relatively single, and the controller for controlling shooting and the image acquisition device generally only transmit commands or instructions through a single communication link, and each communication link has defects in transmitting different commands or instructions to a certain extent, and the defects may cause the transmission of images to be affected. Therefore, the manner of transmitting commands or instructions through only a single communication link is inconvenient to meet the requirements of various image acquisitions, thereby affecting the shooting performance of the shooting device.

Disclosure of Invention

The invention aims to provide a transmission control method, a transmission control device, a controller, shooting equipment and an aircraft, which are used for solving the problem that the mode of transmitting commands or instructions through a single communication link is inconvenient to meet the requirements of various image acquisition.

The embodiment of the invention discloses the following technical scheme:

in a first aspect, an embodiment of the present invention provides a transmission control method, where the method includes:

receiving a control command sent by terminal equipment;

detecting the type of the control command, and determining a communication link for transmitting the control command from at least two communication links according to the type of the control command;

and sending the control command to an image acquisition device through the determined communication link so as to control the image acquisition device to acquire images.

Optionally, the determining, according to the type of the control command, a communication link for transmitting the control command from at least two communication links includes:

and determining the communication link with the highest priority in the at least two communication links according to the type of the control command, and taking the determined communication link with the highest priority as the communication link for transmitting the control command.

Optionally, the detecting the type of the control command, determining a communication link with the highest priority among the at least two communication links according to the type of the control command, and taking the determined communication link with the highest priority as the communication link for transmitting the control command includes:

when the control command is detected to be an image acquisition parameter setting command, determining the communication link with the highest priority in the at least two communication links as a USB link, and taking the USB link as a communication link for transmitting the image acquisition parameter setting command;

the image acquisition parameter setting command is used for setting parameters of an image acquired by the image acquisition device.

Optionally, the at least two communication links include a USB link and a first GPIO link, and the detecting the type of the control command, determining a communication link with the highest priority among the at least two communication links according to the type of the control command, and using the determined communication link with the highest priority as the communication link for transmitting the control command includes:

when the control command is detected to be a snapshot command, determining a communication link with the highest priority among the at least two communication links as a first GPIO link, and taking the first GPIO link as a communication link for transmitting the snapshot command;

The snapshot command is used for controlling the image acquisition device to take a snapshot.

Optionally, the method further comprises:

controlling the disconnection and connection of the USB link;

when the control command is detected to be a snapshot command, the USB link is controlled to be disconnected, so that the snapshot command is sent to the image acquisition device through the first GPIO link;

and when the control command is detected to be an image acquisition parameter setting command, controlling the USB link to be conducted so as to send the image acquisition parameter setting command to the image acquisition device through the USB link.

Optionally, a switch is disposed on the USB link, and before the controlling the disconnection and the connection of the USB link, the method includes:

receiving a switch command sent by the terminal equipment when the main interface and the slave interface of the terminal equipment are switched;

the controlling the disconnection and connection of the USB link comprises:

according to the switch command, the switch is controlled to be turned off and turned on;

and controlling the opening and the closing of the USB link through the opening and the closing of the switch.

Optionally, the switch command includes a switch opening command and a switch closing command, the receiving the switch command sent by the terminal device when the main interface and the slave interface of the terminal device are switched, and controlling the switch to be opened and closed according to the switch command includes:

When the interface of the terminal equipment is switched to a main interface, a switch-off command sent by the terminal equipment is received, and the switch is controlled to be turned off according to the switch-off command;

and when the interface of the terminal equipment is switched to the slave interface, receiving a switch closing command sent by the terminal equipment, and controlling the switch to be turned on according to the switch closing command.

Optionally, the switch is connected with a second GPIO link, and the controlling the switch to be turned off according to the switch turn-off command includes:

transmitting the switch off command to the switch through the second GPIO link to control the switch to be turned off;

the controlling the switch to be turned on according to the switch closing command comprises:

and sending the switch closing command to the switch through the second GPIO link to control the switch to be turned on.

In a second aspect, an embodiment of the present invention provides a transmission control apparatus, including:

a control command receiving module, configured to receive 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 control command type;

And the control command sending module is used for sending the control command to the image acquisition device through the determined communication link so as to control the image acquisition device to acquire images.

Optionally, the communication link determining 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:

Optionally, the communication link determining module detects the type of the control command, determines a communication link with the highest priority among the at least two communication links according to the type of the control command, and uses the determined communication link with the highest priority as a communication link for transmitting the control command, and includes:

Optionally, the at least two communication links include a USB link and a first GPIO link, the communication link determining module detects a type of the control command, determines a communication link with a highest priority among the at least two communication links according to the type of the control command, and uses the determined communication link with the highest priority as a communication link for transmitting the control command, and includes:

Optionally, the apparatus further includes:

the switch control module is used for controlling the disconnection and the connection of the USB link;

the control command sending module is specifically configured to:

when the control command is detected to be a snapshot command, the USB link is controlled to be disconnected, so that the control command sending module sends the snapshot command to the image acquisition device through the first GPIO link;

And when the control command is detected to be an image acquisition parameter setting command, controlling the USB link to be conducted so that the control command sending module sends the image acquisition parameter setting command to the image acquisition device through the USB link.

Optionally, the apparatus further includes:

the switch command receiving module is used for receiving a switch command sent by the terminal equipment when the main interface and the slave interface of the terminal equipment are switched;

the switch control module is specifically used for:

according to the switch command, the switch arranged on the USB link is controlled to be turned off and on;

Optionally, 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 equipment when the main interface and the slave interface of the terminal equipment are switched, and the switch control module controls the switch to be turned off and turned on according to the switch command, wherein the switch command receiving module comprises:

when the interface of the terminal equipment is switched to a main interface, the switch command receiving module receives a switch-off command sent by the terminal equipment, and the switch control module controls the switch to be turned off according to the switch-off command;

When the interface of the terminal equipment is switched to the slave interface, the switch command receiving module receives a switch closing command sent by the terminal equipment, and the switch control module controls the switch to be turned on according to the switch closing command.

Optionally, the switch is connected with a second GPIO link, and the switch control module controls the switch to be turned off according to the switch turn-off command includes:

the switch control module controlling the switch to be turned on according to the switch closing command comprises:

In a third aspect, an embodiment of the present invention provides a controller, including:

at least one processor; the method comprises the steps of,

a memory communicatively coupled to the at least one processor; wherein,

the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the transmission control method as described above.

In a fourth aspect, embodiments of the present invention provide a computer program product comprising a computer program stored on a non-transitory computer readable storage medium, the computer program comprising program instructions which, when executed by a computer, cause the computer to perform a transmission control method as described above.

In a fifth aspect, embodiments of the present invention also provide a non-volatile computer-readable storage medium storing computer-executable instructions for causing a computer to perform the transmission control method as described above.

In a sixth aspect, an embodiment of the present invention further provides a photographing apparatus, including: the image acquisition device is connected with the image transmission module and the controller;

the image acquisition device is used for acquiring images and transmitting the acquired images to the image transmission module;

the image transmission module is used for transmitting the image acquired by the image acquisition device to terminal equipment;

the controller is the controller described above.

In a seventh aspect, an embodiment of the present invention further provides an aircraft, including: the camera comprises a machine body and shooting equipment, wherein the shooting equipment is arranged on the machine body;

The photographing apparatus is the photographing apparatus as described above.

In the embodiment of the invention, based on different types of control commands, the communication link corresponding to the type of the control command is selected from at least two communication links, so that the control command is transmitted to the image acquisition device through the selected communication link to control the image acquisition device to acquire images, the requirements of various image acquisitions can be met, the flexibility of the transmission of the control command is improved, and the shooting performance of shooting equipment is ensured.

In addition, since the image collected by the image collecting device of the photographing device is directly transmitted to the terminal device if the USB link is adopted as the communication link in the general photographing device, so that the condition of the collected image can be known in real time through the terminal device, the image collected by the image collecting device is not saved in the storage space of the photographing device when the USB link is adopted as the communication link in consideration of the performance of the photographing device, and the collected image is inconvenient to be called when needed in the follow-up process; for non-snapshot commands such as image acquisition parameter setting commands, the acquired images can be saved while being captured through USB links of at least two communication links, so that the acquired images can be conveniently called when needed, and user experience is improved.

Drawings

One or more embodiments are illustrated by way of example and not limitation in the figures of the accompanying drawings, in which like references indicate similar elements, and in which the figures of the drawings are not to be taken in a limiting sense, unless otherwise indicated.

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 diagram of an architecture of an unmanned aerial vehicle according to an embodiment of the present invention;

fig. 3 is a schematic view of a photographing apparatus of an unmanned aerial vehicle according to an embodiment of the present invention;

fig. 4 is a schematic flow chart of a transmission control method according to an embodiment of the present invention;

fig. 5 is a schematic flow chart of another transmission control method according to an embodiment of the present invention;

FIG. 6 is a schematic diagram of an interface for providing a terminal device according to an embodiment of the present invention;

fig. 7 is a schematic flow chart of turning off and on a switching trigger switch of a master 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 apparatus according to an embodiment of the present invention;

fig. 11 is a schematic view of an aircraft provided by an embodiment of the invention.

Detailed Description

The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

In addition, the technical features of the embodiments of the present invention described below may be combined with each other as long as they do not collide with each other.

Fig. 1 is an application environment of a transmission control method according to an embodiment of the present invention. The application environment comprises the following steps: unmanned aerial vehicle 100, terminal device 200, and a user (not shown). Wherein the unmanned aerial vehicle 100 is communicatively connected with the terminal device 200 for information interaction.

For example, the unmanned aerial vehicle 100 transmits the acquired image to the terminal device 200 so that the user can know the condition of the image acquired by the unmanned aerial vehicle 100 through the terminal device 200. Alternatively, the terminal device 200 transmits a control command or the like to the unmanned aerial vehicle 100 to control the aerial vehicle to acquire an image, such as adjusting parameters of the acquired image, adjusting a mode of acquiring the image, or the like.

Unmanned aerial vehicle 100 may be any type of powered flying vehicle or other mobile device including, but not limited to, multi-axis rotary-wing unmanned aerial vehicles, such as four-axis rotary-wing unmanned aerial vehicles, fixed-wing aircraft, helicopters, and the like. In this embodiment, a four-axis rotary unmanned aircraft is taken as an example.

The unmanned aerial vehicle 100 can have corresponding volume or power according to the actual situation, so as to provide enough loading capacity, flight speed, flight duration and the like.

For example, as shown in fig. 2, 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 coupled to the power system.

The power system may include an electronic governor (referred to simply as an electric governor), one or more propellers, and one or more motors corresponding to the one or more propellers. Wherein the motor is connected between the electronic governor and the propeller, and the motor and the propeller are disposed on the corresponding horn of the unmanned aerial vehicle 100.

The electronic speed regulator is used for receiving a driving signal generated by the flight control system and providing driving current for the motor according to the driving signal so as to control the rotating speed of the motor. The motor is used to drive the propeller in rotation to power the flight of the unmanned aerial vehicle 100, which enables the unmanned aerial vehicle 100 to achieve one or more degrees of freedom of motion.

In some embodiments, the unmanned aerial vehicle 100 may rotate about one or more rotational axes. For example, the rotation axis may include a yaw axis, a translation axis, and a pitch axis. It is understood that the motor may be a direct current motor or an alternating current motor. In addition, the motor may be a brushless motor or a brush motor.

The flight control system may include a flight controller and a sensing system. The sensing system is used for measuring attitude information of the unmanned aerial vehicle 100, that is, position information and state information of the unmanned aerial vehicle 100 in space, for example, three-dimensional position, three-dimensional angle, three-dimensional speed, three-dimensional acceleration, three-dimensional angular speed, and the like. The sensing system may include, for example, at least one of a gyroscope, an electronic compass, an inertial measurement unit (Inertial Measurement Unit, IMU), a vision sensor, a global navigation satellite system, and a barometer. For example, 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, for example, the flight of the unmanned aerial vehicle 100 may be controlled based on attitude information measured by the sensing system. It will be appreciated that the flight controller may control the flight of the unmanned aerial vehicle 100 in accordance with preprogrammed instructions or may control the flight of the unmanned aerial vehicle 100 in response to one or more control instructions from other devices.

In addition, 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 performing aerial mapping and the like.

For example, the unmanned aerial vehicle 100 is provided with at least one photographing device for acquiring an image, for performing aerial mapping or the like by the photographing device. The photographing device may be a camera, such as a mapping camera, a full-frame micro-sheet, an industrial-grade camera with a middle frame, a video camera, or the like. In other embodiments, the unmanned aerial vehicle 100 may also provide a fixed bracket for fixedly mounting the photographing apparatus, thereby enabling a user to replace the photographing apparatus mounted on the unmanned aerial vehicle 100 according to his/her own needs. Alternatively, the unmanned aerial vehicle 100 may further include a cradle head adapted to the photographing apparatus as an auxiliary apparatus for capturing images, for mounting the photographing apparatus on the body of the unmanned aerial vehicle 100.

The photographing apparatus will be described in detail with reference to fig. 3.

As shown in fig. 3, the photographing apparatus 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, through an HDMI link. The image acquisition device is connected with the controller through at least two communication links. The controller is connected with 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, universal input/output) link, and the like. In the present embodiment, a USB link and a first GPIO link are described as examples of at least two communication links.

The image capturing device may be any suitable capturing device capable of implementing an image capturing function, such as a camera. The image capturing device transmits the captured image to the image transmission module through an HDMI (High Definition Multimedia Interface ) link, and the image transmission module may transmit the captured image to the terminal device 200 after receiving the captured image so as to display the image through the terminal device 200. The image transmission module is controlled by the controller to transmit an image to the terminal device 200, for example.

In some embodiments, to ensure stability of image transmission, the photographing apparatus may further include an image processing module for processing the acquired image before transmitting the image to the terminal apparatus 200, so as to transmit the processed image to the terminal apparatus 200.

For example, the image processing module first converts the acquired image into a first image conforming to the audio-video interface format, such as a first image conforming to the HDMI interface format; converting the first image into a second image conforming to an interface format of an image receiving end, such as a second image conforming to a BT1120 interface format; and encoding the second image, such as through H264 or H265; finally, the encoded image is transmitted to the terminal device 200.

The controller may be any suitable control device capable of controlling the image acquisition apparatus, such as an MCU (Microcontroller Unit, micro control unit), a control chip, a single chip microcomputer, etc. The controller may control the image capture device by sending control commands to the image capture device. For example, parameters (such as a focal length parameter, an exposure parameter, etc.) that control the image acquisition device to acquire an image, or modes (such as snapshot, video, shooting, etc.) that control the image acquisition device to acquire an image.

For the transmission of control commands in the photographing apparatus, since each communication link has some defects in the transmission of different control commands for controlling the image pickup device to some extent, the defects may cause the transmission of images to be affected. If a single communication link is adopted to transmit the control command, the requirements of various image acquisition cannot be met conveniently.

Based on this, at least two communication links are provided between the image pickup device and the controller so that a communication link corresponding to the type of the control command is selected from the at least two communication links to transmit the control command based on the different types of the control commands.

For example, the at least two communication links include: a USB link and a first GPIO link. The controller can transmit a control command to the image acquisition device through the USB link or the first GPIO link so as to control the image acquisition device, so that the requirements of various image acquisitions can be met.

And when the control command is transmitted through the USB link, the USB link is controlled to be conducted; when the control command is not transmitted through the USB link, the USB link is controlled to be disconnected. Wherein the disconnection and the connection of the USB link can be controlled by a switch. For example, the switch is arranged on the USB link, and when the switch is opened, the USB link is opened; when the switch is turned on, the USB link is turned on. In some implementations, the switch may be controlled to be turned off and on by the second GPIO link, thereby controlling the USB link to be turned off and on.

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 for gathering user instructions or presenting or feeding back information to the user.

These interactive devices include, but are not limited to: keys, a display screen, a touch screen, a loudspeaker and a remote control operation rod. For example, the terminal device 200 may be equipped with a touch display screen through which a touch operation of a user is received to generate a touch command or instruction and display information, such as a display image, to the user through the touch display screen.

In some embodiments, the terminal device 200 may be a smart terminal device, such as a cell phone, tablet, personal computer, wearable device, or the like. The terminal device 200 may have installed thereon a software Application (APP) that matches the unmanned aerial vehicle 100. The user may display the received image transmitted by the unmanned aerial vehicle 100 on a touch display screen through the software application.

In other embodiments, the terminal device 200 may also be a dedicated control device associated with the unmanned aerial vehicle 100, such as a remote control of the unmanned aerial vehicle 100, or the like, that may receive images from the unmanned aerial vehicle 100 and display via a built-in or externally connected display screen.

It will be appreciated that the above designations for the various components of the unmanned aerial vehicle 100 are for identification purposes only and should not be construed as limiting embodiments of the present invention.

In addition, the transmission method provided by the embodiment of the invention can be further expanded to other suitable application environments, and is not limited to the application environment shown in fig. 1. For example, in the practical application, the unmanned aerial vehicle 100 in the application environment may be any other suitable aerial vehicle, such as an unmanned ship or an unmanned vehicle. Further, more terminal apparatuses 200 may be included in the application environment, for example, 2, 3, etc., that is, the number of terminal apparatuses 200 is not limited herein.

Example 1:

fig. 4 is a schematic flow chart of a transmission control method according to an embodiment of the present invention. The transmission control method of the embodiment of the present invention may be performed by a control device having a certain logic processing capability, for example, the transmission control method may be performed by a controller of a photographing device of the unmanned aerial vehicle 100 in fig. 1.

Referring to fig. 4, the transmission control method includes:

401: and receiving a control command sent by the terminal equipment.

For the application of unmanned aerial vehicle in taking photo by plane survey and drawing, when image acquisition device passes through the image transmission module and sends the image of gathering to terminal equipment to show this image through terminal equipment, terminal equipment can be through sending control command in order to control the gathering of image to adjust the gathering of image at any time.

For example, the terminal device sends a control command to the controller, and the controller receives the control command and then 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 the image acquisition device to acquire an image. For example, the control command may be a command for controlling parameters of the image acquired by the image acquisition apparatus, such as an image acquisition parameter setting command, by which parameters of the acquired image may be adjusted, for example, a focus parameter, an exposure parameter, a white balance, and the like.

Or, the control command may be a mode for controlling the image acquisition device to acquire an image, such as a snapshot command, a video recording command, etc., and the image acquisition device may be controlled to take a snapshot through the snapshot command, and the image acquisition device may be controlled to record a video through the video recording command.

402: the type of the control command is detected, and a communication link for transmitting the control command is determined from at least two communication links according to the type of the control command.

The controller may transmit the control command over any one of the at least two communication links. For the transmission of control commands between the controller and the image acquisition device, each communication link may have some drawbacks for the transmission of different control commands for controlling the image acquisition device, which may result in the transmission of images being affected. If a single communication link is adopted to transmit the control command, the requirements of various image acquisition cannot be met conveniently. Therefore, in order to meet the requirements of various image acquisitions, a corresponding communication link may be selected from at least two communication links for transmission of control commands based on different types of control commands.

Wherein 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.

In some implementations, the controller determines a communication link for transmitting the control command from at least two communication links according to the type of the control command, including: and determining the communication link with the highest priority in the at least two communication links according to the type of the control command, and taking the determined communication link with the highest priority as the communication link for transmitting the control command.

Specifically, the controller detects the type of the control command, determines a communication link with the highest priority among the at least two communication links according to the type of the control command, and uses the determined communication link with the highest priority as a communication link for transmitting the control command, and includes:

detecting whether the control command is a snapshot command, and when the control command is detected to be the snapshot command, determining the communication link with the highest priority in the at least two communication links as a first GPIO link, and taking the first GPIO link as a communication link for transmitting the snapshot command; the snapshot command is used for controlling the image acquisition device to take a snapshot; or,

And when the control command is detected to be a non-snapshot command, determining the communication link with the highest priority among the at least two communication links as a USB link, and taking the USB link as the communication link for transmitting the image acquisition parameter setting command. For example, in some embodiments, taking an image acquisition parameter setting command as an example of a non-snapshot command, when the control command is detected as the image acquisition parameter setting command, determining a communication link with the highest priority among the at least two communication links as a USB link, and taking the USB link as a communication link for transmitting the image acquisition parameter setting command; the image acquisition parameter setting command is used for setting parameters of an image acquired by the image acquisition device.

For each communication link in at least two communication links, different types of control commands exist, and the priorities corresponding to the communication links have certain differences.

For example, for non-snapshot commands such as image capturing parameter setting commands, the communication links that are currently more commonly used are wifi links and USB links, so that the communication protocol is relatively complete, while the first GPIO link and the serial link are relatively uncommon, so that the protocol is relatively not particularly complete to some extent. If wifi links in at least two communication links are used as communication links for transmitting the image acquisition parameter setting command, image transmission of a 2.4G frequency band of the unmanned aerial vehicle is interfered. Therefore, for the image capturing parameter setting command, the communication link with the highest priority among the at least two communication links is the USB link. That is, a USB link is adopted as a communication link for transmitting a non-snapshot command such as an image acquisition parameter setting command.

For the snapshot command, if a USB link of at least two communication links is adopted as the communication link, the image collected by the image collecting device is directly transmitted to the terminal device through the image transmission module during snapshot, so that the condition of the collected image is known in real time through the terminal device, the performance of the shooting device of the unmanned aerial vehicle is considered, and if the image is stored in the storage space while being transmitted during snapshot, the performance challenge on the shooting device is relatively large, therefore, when the USB link is adopted as the communication link for transmitting the snapshot link, the image collected by the image collecting device is not stored in the storage space of the shooting device, and the collected image is inconvenient to call when required later. Similarly, if a wifi link of at least two communication links is used as a communication link for transmitting an image acquisition parameter setting command, image transmission of a 2.4G frequency band of the unmanned aerial vehicle is interfered. Thus, for a snapshot command, the highest priority communication link of the at least two communication links is the first GPIO link. That is, the first GPIO link is employed as the communication link for transmitting the snapshot command.

403: and sending the control command to an image acquisition device through the determined communication link so as to control the image acquisition device to acquire images.

For a snapshot command, the snapshot command is sent to an image acquisition device through a first GPIO link of at least two communication links so as to control the image acquisition device to take a snapshot; for non-snap shooting commands such as image acquisition parameter setting commands, the image acquisition parameter setting commands are sent to the image acquisition device through USB links of at least two communication links so as to adjust parameters of acquired images. Therefore, the effect of saving the acquired image can be achieved while the image is captured, so that the acquired image can be conveniently called when needed later, and the user experience is improved.

In the embodiment of the invention, based on different types of control commands, the communication link corresponding to the type of the control command is selected from at least two communication links, so that the control command is transmitted to the image acquisition device through the selected communication link to control the image acquisition device to acquire images, the requirements of various image acquisitions can be met, the flexibility of the control command transmission is improved, and the shooting performance of shooting equipment of the unmanned aerial vehicle is ensured.

And the first GPIO links of the at least two communication links are used for sending the snapshot command to the image acquisition device so as to control the image acquisition device to snapshot, so that the effect of saving the acquired image can be achieved when the image is snapshot, the acquired image can be conveniently called when needed, and the user experience is improved.

Example 2:

fig. 5 is a flowchart of another transmission control method according to an embodiment of the present invention. The transmission control method of the embodiment of the present invention may be performed by a control device having a certain logic processing capability, for example, the transmission control method may be performed by a controller of a photographing device of the unmanned aerial vehicle 100 in fig. 1.

Referring to fig. 5, the transmission control method includes:

501: and receiving a control command sent by the terminal equipment.

502: the type of the control command is detected, and a communication link for transmitting the control command is determined from at least two communication links according to the type of the control command.

503: and receiving a switch command sent by the terminal equipment when the main interface and the slave interface of the terminal equipment are switched.

In order to control the disconnection and connection of the USB link, a switch for controlling the disconnection and connection of the USB link may be provided on the USB link. When a user operates the terminal device so that the terminal device switches between a master interface and a slave interface thereof, the controller may receive a switch command for controlling the opening and closing of the switch, thereby controlling the opening and closing of the USB link.

The main interface is a default main operation interface of the terminal equipment, and the slave interface is a non-main interface of the terminal equipment. For example, the slave interface may set an interface for parameters, or the like.

504: and controlling the disconnection and the connection of the USB link.

When at least two communication links comprise a USB link and a first GPIO link, if the USB link is always on, when the image acquisition device captures images, the images are not stored in a storage space of the shooting equipment, such as an SD card, and are directly transmitted to the terminal equipment through an image transmission module, so that in order to avoid the problem that the images are not stored in the storage space of the shooting equipment when the images are captured, the controller is used for controlling the disconnection and the connection of the USB link, namely, when the control command is detected as the capture command, the USB link is controlled to be disconnected, and the capture command is transmitted to the image acquisition device through the first GPIO link; the USB link is controlled to conduct when the control command is detected as a non-snap command, e.g., in some embodiments, when the control command is detected as an image acquisition parameter setting command, the USB link is controlled to conduct to send the image acquisition parameter setting command to an image acquisition device over the USB link.

In some implementations, the controller controlling the disconnection and connection of the USB link includes: according to the switch command, the switch is controlled to be turned off and turned on; and controlling the opening and the closing of the USB link through the opening and the closing of the switch. Wherein controlling disconnection of the USB link includes unloading USB, and controlling connection of the USB link includes loading USB.

Taking fig. 3 as an example, a switch for controlling the disconnection and connection of the USB link is arranged in the USB link, and when the controller controls the switch to be disconnected, the USB link is disconnected; when the controller controls the switch to be conducted, the USB link is conducted.

Because the connection and disconnection of the USB link involve a lot of resource consumption, in order to prevent too many frequent operations of disconnection or connection of the USB link, the controller provides an interface for disconnection or connection of the USB link to the outside, that is, receives a switch command when the main interface and the slave interface of the terminal device are switched, so as to trigger the disconnection and connection of the switch, and further control the disconnection and connection of the USB link.

Wherein the switch command includes a switch open command and a switch close command.

In some implementations, the controller receives a switch command sent by the terminal device when the main interface and the slave interface of the terminal device are switched, and controlling the switch to be turned off and turned on according to the switch command includes: when the interface of the terminal equipment is switched to a main interface, a switch-off command sent by the terminal equipment is received, and the switch is controlled to be turned off according to the switch-off command; and when the interface of the terminal equipment is switched to the slave interface, receiving a switch closing command sent by the terminal equipment, and controlling the switch to be turned on according to the switch closing command.

Wherein the switch is connected with a second GPIO link, and the controller controlling the switch to be turned off according to the switch turn-off command comprises: the switch off command is sent to the switch over the second GPIO link to control the switch to open.

The controller controlling the switch to be turned on according to the switch closing command comprises: and sending the switch closing command to the switch through the second GPIO link to control the switch to be turned on.

The following describes in detail the switching off and on of the trigger switch by the main interface and the slave interface of the terminal device, so as to control the switching off and on of the USB link, with reference to fig. 6 and 7.

Referring to fig. 6, a schematic diagram of an interface of a terminal device is shown, where the interface of the terminal device includes a master interface and a slave interface, and a parameter setting interface is taken as an example of the slave interface. The main interface of the terminal equipment comprises a snap shot button and a parameter setting button (shown in the left diagram of fig. 6); a return main interface button, a focus parameter setting button, an exposure parameter setting button, a white balance button, and the like are included in the slave interface of the terminal device (as shown in the right diagram of fig. 6).

The master interface and the slave interface can be switched. For example, when a user clicks or touches a parameter setting button in the master interface, switching from the master interface to the slave interface; when the user clicks or touches a return main interface button in the slave interface, the slave interface is switched to the main interface.

Fig. 7 is a schematic flow chart of switching off and on of the trigger switch through the interface of the terminal device. The photographing apparatus is initially powered up, and the switch defaults to off.

When the terminal equipment receives a first operation of a user for enabling the terminal equipment to enter the main interface, the terminal equipment enters the main interface, and the terminal equipment is triggered to send a switch-off command to the controller when the terminal equipment enters the main interface so as to control the switch to be turned off. For example, after the controller receives the switch-off command, the controller sends the switch-off command to control the switch to be turned off through the second GPIO link, so that the USB link is turned off, that is, the USB is unloaded, so that the image capturing device is in a state to be captured.

After the terminal equipment enters the main interface and the USB link is disconnected, if the terminal equipment receives a second operation of a user for controlling snapshot, for example, when the user clicks or touches a snapshot button, the terminal equipment is triggered to send a snapshot command to the controller, and after the controller receives the snapshot command, the controller does not need to send a switch disconnection command to the switch, but directly sends the snapshot command to the image acquisition device through the first GPIO link so as to control the image acquisition device to conduct snapshot.

After the terminal equipment enters the main interface USB link to disconnect, if the terminal equipment receives a third operation of a user for enabling the terminal equipment to enter the auxiliary interface, such as clicking or touching a parameter setting button by the user, the terminal equipment enters the auxiliary interface, and the terminal equipment is triggered to send a switch closing command to the controller when the terminal equipment enters the auxiliary interface so as to control the switch to be turned on. For example, after the controller receives the switch closing command, the switch closing command is sent to the switch 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.

After the terminal equipment enters the slave interface and the USB link is conducted, if the terminal equipment receives a fourth operation of a user for adjusting parameters of the acquired image, such as clicking or touching a focusing parameter setting button, an exposure parameter setting button, a white balance button and the like by the user, the terminal equipment is triggered to send an image acquisition parameter setting command to the controller, and after the controller receives the image acquisition parameter setting command, the controller does not need to send a switch closing command to the switch, but directly sends the image acquisition parameter setting command to the image acquisition device through the first GPIO link so as to adjust the parameters of the acquired image of the image acquisition device.

After the terminal equipment enters the slave interface USB and the link is conducted, if the user clicks or touches the return main interface button, the terminal equipment enters the main interface again.

In the process that the controller sends the control module to the image acquisition device to control the image acquisition device to acquire images, the controller controls the disconnection and the connection of the switch through the switching of the main interface and the slave interface of the terminal equipment so as to control the disconnection and the connection of the USB link, the controller does not need to send a switch disconnection command when sending a snapshot command, and does not need to send a switch closing command when sending an image acquisition parameter setting command. Thus, the phenomenon that the image acquisition device acquires an unstable image due to the fact that the USB link is disconnected or conducted frequently is avoided.

505: and sending the control command to an image acquisition device through the determined communication link so as to control the image acquisition device to acquire images.

Based on step 504, the controller sending the control command to the image capture device over the determined communication link to control the image capture device to capture an image includes: when the USB link is disconnected, the snapshot command is sent to an image acquisition device through the first GPIO link; and when the USB link is conducted, sending a non-snapshot command such as an image acquisition parameter setting command to an image acquisition device through the USB link.

It will be appreciated from the description of embodiments of the invention that in different embodiments, the steps 501-505 may be performed in a different order without conflict. For example, steps 503-504 are performed first, then step 502 is performed, and so on.

It should be further noted that, for technical details not described in the steps 501 to 505 in the embodiments of the present invention, reference should be made to the specific description of the above embodiments.

In addition, the interface of the terminal equipment is used for switching the trigger switch off and on, so that the USB link is controlled to be switched off and on, the phenomenon that the image acquisition device acquires unstable images due to the fact that the USB link is frequently switched off or on can be avoided, and resource consumption is reduced.

Example 3:

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 disposed in a controller of a photographing apparatus of the unmanned aerial vehicle 100 in fig. 1.

Referring to fig. 8, the transmission control apparatus 80 includes: a control command receiving module 801, a communication link determining module 802, a switching command receiving module 803, a switching control module 804, and a control command transmitting module 805.

Specifically, the 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 so as 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 the control command receiving module 801 receives the control command, the control command is transmitted to the image capturing device to control the image capturing device to capture an image.

The control command may be any suitable command for controlling the image acquisition device to acquire an image. For example, the control command may be a command for controlling parameters of the image acquired by the image acquisition apparatus, such as an image acquisition parameter setting command. Alternatively, the control command may be a mode for controlling the image acquisition apparatus to acquire an image, such as a snapshot command, a video command, or the like.

Specifically, the communication link determining module 802 is configured to detect a type of the control command, and determine, according to the type of the control command, a communication link for transmitting the control command from at least two communication links.

For the transmission of control commands, since each of the at least two communication links has some drawbacks to the transmission of different control commands for controlling the image acquisition device, the drawbacks may result in the transmission of images being affected. If a single communication link is adopted to transmit the control command, the requirements of various image acquisition cannot be met conveniently. Accordingly, to meet the needs of various image acquisitions, the communication link determination module 802 may select a corresponding communication link from at least two communication links for transmission of control commands based on different types of control commands.

In some implementations, 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: and determining the communication link with the highest priority in the at least two communication links according to the type of the control command, and taking the determined communication link with the highest priority as the communication link for transmitting the control command.

Specifically, the communication link determining module 802 detects the type of the control command, determines, according to the type of the control command, a communication link with the highest priority among the at least two communication links, and uses the determined communication link with the highest priority as a communication link for transmitting the control command, where the determining includes:

And when the control command is detected to be a non-snapshot command, determining the communication link with the highest priority among the at least two communication links as a USB link, and taking the USB link as the communication link for transmitting the image acquisition parameter setting command. For example, in some embodiments, taking an image acquisition parameter setting command as an example of a non-snapshot command, when the control command is detected to be a snapshot command, determining a communication link with the highest priority of the at least two communication links as a first GPIO link, and taking the first GPIO link as a communication link for transmitting the snapshot command; the snapshot command is used for controlling the image acquisition device to take a snapshot.

For example, for a non-snap command, such as an image acquisition parameter setting command, the highest priority communication link of the 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 a non-snapshot command such as an image acquisition parameter setting command.

For the snapshot command, if the communication link determining module 802 determines the USB link as the communication link for transmitting the snapshot command, the image collected by the image collecting device during the snapshot is directly transmitted to the terminal device through the image transmission module, so that the condition of the collected image is known in real time through the terminal device, and the performance of the shooting device of the unmanned aerial vehicle is considered, if the image is stored in the storage space while being transmitted during the snapshot, the performance challenge on the shooting device is relatively large, therefore, when the USB link is adopted as the communication link for transmitting the snapshot link, the image collected by the image collecting device is not stored in the storage space of the shooting device, which is inconvenient for invoking the collected image later when needed. Thus, for a snapshot command, the highest priority communication link of 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 the communication link to transmit the snapshot command.

Specifically, the switch command receiving module 803 is configured to receive a switch command sent by the terminal device when the main interface and the slave interface of the terminal device are switched.

In order to control the disconnection and connection of the USB link, a switch for controlling the disconnection and connection of the USB link may be provided on the USB link. When the user operates the terminal device so that the terminal device switches between its master interface and slave interface, the switch command receiving module 803 may receive a switch command, where the switch command is used to control the switch to be turned off and on, and further control the USB link to be turned off and on.

Specifically, the switch control module 804 is configured to control disconnection and connection of the USB link.

When at least two communication links include a USB link and a first GPIO link, if the USB link is always on, when the image capturing device captures an image, the image is not stored in a storage space of the capturing device, for example, in an SD card, and is directly transmitted to the terminal device through the image transmission module, so, in order to avoid a problem that the image is not stored in the storage space of the capturing device during capturing, the switch control module 804 controls the disconnection and the connection of the USB link, that is, when detecting that the control command is a capturing command, the switch control module 804 controls the USB link to be disconnected, so that the control command transmitting module 805 transmits the capturing command to the image capturing device through the first GPIO link; when the control command is detected as a non-snap shot command, the switch control module 804 controls the USB link to be turned on, for example, in some embodiments, when the control command is detected as an image acquisition parameter setting command, controls the USB link to be turned on so that the control command transmitting module 805 transmits the image acquisition parameter setting command to the image acquisition device through the USB link.

In some implementations, the switch control module 804 is specifically configured to: according to the switch command, the switch is controlled to be turned off and turned on; and controlling the opening and the closing of the USB link through the opening and the closing of the switch.

Because the connection and disconnection of the USB link involve a great deal of resource consumption, in order to prevent too many frequent operations of disconnection or connection of the USB link, an interface for disconnection or connection of the USB link is externally provided, that is, a switch command is received when the main interface and the slave interface of the terminal device are switched, so that the disconnection and connection of the switch are triggered, and the disconnection and connection of the USB link are controlled.

In some implementations, the switch command receiving module 803 receives a switch command sent by the terminal device when the main interface and the slave interface of the terminal device are switched, and the switch control module 804 controls the switch to be turned off and turned on according to the switch command, including: when the interface of the terminal equipment is switched to the main interface, the switch command receiving module 803 receives a switch-off command sent by the terminal equipment, and the switch control module 804 controls the switch to be turned off according to the switch-off command; when the interface of the terminal equipment is switched to the slave interface, the switch command receiving module 803 receives a switch closing command sent by the terminal equipment, and the switch control module 804 controls the switch to be turned on according to the switch closing command.

Wherein, the switch is connected with a second GPIO link, and the switch control module 804 controls the switch to be turned off according to the switch turn-off command includes: the switch off command is sent to the switch over the second GPIO link 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: and sending the switch closing command to the switch through the second GPIO link to control the switch to be turned on.

The switch control module 804 controls the switch to be turned off and on through the switching of the main interface and the slave interface of the terminal device, so that the subsequent control command sending module 805 does not need to send the switch off command again when sending the snapshot command, and does not need to send the switch on command again when sending the image acquisition parameter setting command. Thus, the phenomenon that the image acquisition device acquires an unstable image due to the fact that the USB link is disconnected or conducted frequently is avoided.

Specifically, the control command sending module 805 is configured to send the control command to the image capturing device through the determined communication link, so as to control the image capturing device to capture an image.

The control command sending module 805 specifically is configured to: when the USB link is disconnected, the snapshot command is sent to an image acquisition device through the first GPIO link so as to control the image acquisition device to take a snapshot; when the USB link is conducted, a non-snapshot command such as an image acquisition parameter setting command is sent to the image acquisition device through the USB link so as to adjust parameters of an acquired image. Therefore, the effect of saving the acquired image can be achieved while the image is captured, so that the acquired image can be conveniently called when needed later, and the user experience is improved.

It should be noted that, in some embodiments, the switch command receiving module 803 and/or the switch control module 804 may not be an essential module of the transmission control apparatus 80 in different embodiments, that is, in some embodiments, the switch command receiving module 803 and/or the switch control module 804 may be omitted.

It should be further noted that, in the embodiment of the present invention, the transmission control device 80 may execute the transmission control method provided in any method embodiment, and has the corresponding functional modules and beneficial effects of the execution method. Technical details not described in detail in the embodiment of the transmission control apparatus 80 can be seen in the transmission control method provided in the embodiment of the present method.

Example 4:

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 the photographing apparatus of the unmanned aerial vehicle 100 described above, or the like. As shown in fig. 9, the controller 90 includes:

one or more processors 901, and a memory 902, one processor 901 being illustrated in fig. 9.

The processor 901 and the memory 902 may be connected by a bus or otherwise, for example in fig. 9.

The memory 902 is used as a non-volatile computer readable storage medium, and may be used to store a non-volatile software program, a non-volatile computer executable program, and modules, such as program instructions/modules corresponding to the transmission control method provided in the embodiment of the present invention (for example, the control command receiving module 801, the communication link determining module 802, the switch command receiving module 803, the switch control module 804, and the control command transmitting module 805 shown in fig. 8). The processor 901 executes various functional applications of the controller and data processing by running nonvolatile software programs, instructions and modules stored in the memory 902, i.e., implements the transmission control method provided by the method embodiment.

The memory 902 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, at least one application program required for a function; the storage data area may store data created according to controller usage, etc. In addition, the memory 902 may include high-speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid-state storage device. In some embodiments, memory 902 optionally includes memory remotely located relative to processor 901, which may be connected to the controller via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, 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 the transmission control method provided by the embodiments of the present invention, for example, perform the method steps 501 to 505 in fig. 6 described above, or implement the functions of the modules 801 to 805 in fig. 8.

The controller 90 may also illustratively include a communication interface for enabling communication with other devices, such as terminal devices and the like. Other devices included in the controller 90 are not limited herein.

The controller 90 may execute the transmission control method provided by the embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method. Technical details not described in detail in the controller embodiment may be referred to the transmission control method provided in the embodiment of the present invention.

The embodiment of the invention provides a computer program product, which comprises a computer program stored on a non-volatile computer readable storage medium, the computer program comprising program instructions which, when executed by a computer, cause the computer to execute the transmission control method provided by the embodiment of the invention. For example, the method steps 501-505 of FIG. 6 described above are performed, or the functions of the modules 801-805 of FIG. 8 are implemented.

The embodiment of the invention provides a nonvolatile computer readable storage medium, which stores computer executable instructions for causing a computer to execute the transmission control method provided by the embodiment of the invention. For example, the method steps 501-505 of FIG. 6 described above are performed, or the functions of the modules 801-805 of FIG. 8 are implemented.

Example 5:

fig. 10 is a schematic diagram of a photographing apparatus according to an embodiment of the present invention. The photographing apparatus may be the photographing apparatus of the unmanned aerial vehicle 100 in fig. 1. The photographing apparatus 400 includes: the image acquisition device 410, the controller 90 and the image transmission module 420, wherein the image acquisition device 410 is connected with the image transmission module 420 and the controller 90. As shown in fig. 3, the description of the specific connection relationship of each component in the photographing apparatus 400 may refer to the above description, and thus, is not repeated 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 the acquired image acquired by the image acquisition device 410 to a terminal device. The controller 90 is configured to control the image acquisition device 410 to acquire images by using a control command to transmit the control command to the image acquisition device 410 through a communication link determined from at least two communication links according to the type of the control command, so as to meet various image acquisition requirements, improve the flexibility of control command transmission, and ensure the shooting performance of the shooting device 400.

Example 6:

fig. 11 is a schematic view of an aircraft provided in an embodiment of the present invention. The aircraft 500 may be the unmanned aircraft 100 of fig. 1, among other things. The aircraft 500 includes: a body 510 and the photographing apparatus 400 described above. Wherein the photographing apparatus 400 is disposed on the body 510. The shooting device 400 can meet the requirements of various image acquisition, ensure shooting performance and improve user experience.

It should be noted that the above-described apparatus embodiments are merely illustrative, and the units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed over a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

From the above description of embodiments, it will be apparent to those skilled in the art that the embodiments may be implemented by means of software plus a general purpose hardware platform, but may also be implemented by means of hardware. Those of ordinary skill in the art will appreciate that all or a portion of the processes implementing the methods of the embodiments may be implemented by hardware associated with computer program instructions, where the program may be stored on a computer readable storage medium, where the program, when executed, may include processes of embodiments of the methods as described herein. The storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), a random access Memory (RandomAccessMemory, RAM), or the like.

Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; the technical features of the above embodiments or in the different embodiments may also be combined within the idea of the invention, the steps may be implemented in any order, and there are many other variations of the different aspects of the invention as described above, which are not provided in detail for the sake of brevity; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the invention.

Claims

1. A transmission control method applied to a photographing apparatus, the method comprising:

receiving a control command sent by a terminal device, wherein the control command comprises a command for controlling an image acquisition device to acquire an image and a command for controlling a mode of the image acquisition device to acquire the image; the command for controlling the image acquisition device to acquire the image comprises an image acquisition parameter setting command, and the command for controlling the image acquisition device to acquire the image comprises a snapshot command and a video recording command;

the control command is sent to an image acquisition device through the determined communication link so as to control the image acquisition device to acquire images;

the determining a communication link for transmitting the control command from at least two communication links according to the type of the control command comprises:

2. The method according to claim 1, wherein the detecting the type of the control command, determining a communication link with the highest priority among the at least two communication links according to the type of the control command, and using the determined communication link with the highest priority as the communication link transmitting the control command, comprises:

3. The method according to claim 2, wherein the at least two communication links include a USB link and a first GPIO link, wherein the detecting the type of the control command and determining a communication link with the highest priority among the at least two communication links according to the type of the control command, and wherein the determining the communication link with the highest priority as the communication link transmitting the control command, comprises:

4. A method according to claim 3, characterized in that the method further comprises:

controlling the disconnection and connection of the USB link;

5. The method of claim 4, wherein a switch is provided on the USB link, and wherein prior to controlling the disconnection and connection of the USB link, the method comprises:

the controlling the disconnection and connection of the USB link comprises:

6. The method of claim 5, wherein the switch commands include a switch open command and a switch close command, wherein the receiving the switch commands sent by the terminal device when switching between the master interface and the slave interface thereof, and wherein controlling the opening and closing of the switch according to the switch commands comprises:

7. The method of claim 6, wherein a second GPIO link is connected to the switch, and wherein controlling the switch to open according to the switch-off command comprises:

8. A transmission control apparatus applied to a photographing device, the apparatus comprising:

the control command receiving module is used for receiving a control command sent by the terminal equipment, wherein the control command comprises a command for controlling the image acquisition device to acquire an image and a command for controlling the image acquisition device to acquire the image mode;

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;

The control command sending module is used for sending the control command to the image acquisition device through the determined communication link so as to control the image acquisition device to acquire images;

the communication link determining module determines a communication link for transmitting the control command from at least two communication links according to the type of the control command, and the communication link determining module comprises:

9. The apparatus of claim 8, wherein the communication link determining module detects the type of the control command, determines a communication link with a highest priority among the at least two communication links according to the type of the control command, and uses the determined communication link with the highest priority as a communication link transmitting the control command, comprising:

10. The apparatus of claim 9, wherein the at least two communication links include a USB link and a first GPIO link, wherein the communication link determining module detects a type of the control command, determines a communication link with a highest priority among the at least two communication links according to the type of the control command, and uses the determined communication link with the highest priority as a communication link for transmitting the control command, and wherein the determining module includes:

11. The apparatus of claim 10, wherein the apparatus further comprises:

the control command sending module is specifically configured to:

12. The apparatus of claim 11, wherein the apparatus further comprises:

the switch control module is specifically used for:

13. The apparatus of claim 12, wherein the switch commands comprise a switch open command and a switch close command;

14. The apparatus of claim 13, wherein the switch is coupled with a second GPIO link, and wherein the switch control module controls the switch to open based on the switch-off command comprises:

15. A controller, comprising:

at least one processor; the method comprises the steps of,

a memory communicatively coupled to the at least one processor; wherein,

the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-7.

16. A photographing apparatus, characterized by comprising: the image acquisition device is connected with the image transmission module and the controller;

the controller is the controller of claim 15.

17. An aircraft, comprising: the camera comprises a machine body and shooting equipment, wherein the shooting equipment is arranged on the machine body;

the photographing apparatus of claim 16.