WO2020062904A1 - Procédé de commande de transmission, dispositif, dispositif de commande, appareil de capture d'image et aéronef - Google Patents

Procédé de commande de transmission, dispositif, dispositif de commande, appareil de capture d'image et aéronef 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)
Chinese (zh)
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/fr

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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

Des modes de réalisation de la présente invention concernent le domaine technique des aéronefs, et décrivent un procédé de commande de transmission, un dispositif, un dispositif de commande, un appareil de capture d'image et un aéronef. Le procédé consiste à : recevoir une instruction de commande envoyée par un appareil terminal; détecter un type de l'instruction de commande, et déterminer, en fonction du type de l'instruction de commande, une liaison de communication à partir d'au moins deux liaisons de communication pour transmettre l'instruction de commande; et envoyer l'instruction de commande à un dispositif d'acquisition d'image par l'intermédiaire de la liaison de communication déterminée, de façon à commander le dispositif d'acquisition d'image pour acquérir une image. Le procédé de commande de transmission proposé par les modes de réalisation de la présente invention répond à diverses exigences d'acquisition d'image et améliore la flexibilité de transmission d'une instruction de commande, ce qui permet de garantir la performance de capture d'image d'appareils de capture d'image.
PCT/CN2019/088763 2018-09-29 2019-05-28 Procédé de commande de transmission, dispositif, dispositif de commande, appareil de capture d'image et aéronef WO2020062904A1 (fr)

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