CN113296534A - Unmanned aerial vehicle flight parameter transmission method, unmanned aerial vehicle and playing equipment - Google Patents
Unmanned aerial vehicle flight parameter transmission method, unmanned aerial vehicle and playing equipment Download PDFInfo
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- CN113296534A CN113296534A CN202110560144.2A CN202110560144A CN113296534A CN 113296534 A CN113296534 A CN 113296534A CN 202110560144 A CN202110560144 A CN 202110560144A CN 113296534 A CN113296534 A CN 113296534A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
Abstract
The invention discloses a flight parameter transmission method of an unmanned aerial vehicle, which is applied to the unmanned aerial vehicle and comprises the following steps: acquiring a flight image and flight parameter data at the same time as the flight image; generating a parameter two-dimensional code by using flight parameter data, and superposing the parameter two-dimensional code into a flight image; and sending the superposed flight images to the playing equipment. The method can adopt a mode of generating the parameter two-dimensional code by using the flight parameters and superposing the parameter two-dimensional code into the flight images at the same time, so as to ensure that the flight parameters correspond to the flight images one by one and further ensure that the flight parameters are synchronous with the flight images; meanwhile, the method only needs to send the superposed flight images, and does not need to send the flight parameters of the unmanned aerial vehicle independently, so that data paths can be effectively saved, and the transmission efficiency of the flight images and the flight parameters can be improved. The invention also provides the unmanned aerial vehicle, the playing equipment, the electronic equipment and the storage medium, and has the beneficial effects.
Description
Technical Field
The invention relates to the field of flight parameter transmission of unmanned aerial vehicles, in particular to a flight parameter transmission method of an unmanned aerial vehicle, the unmanned aerial vehicle, playing equipment, electronic equipment and a storage medium.
Background
In the unmanned aerial vehicle control link, the unmanned aerial vehicle driver needs to rely on flight image and flight parameter to carry out analysis and judgement to unmanned aerial vehicle's gesture, and then just can the accurate operation unmanned aerial vehicle, therefore flight image and flight parameter's transmission task is crucial in unmanned aerial vehicle control.
In the related technology, the unmanned aerial vehicle respectively adopts different data paths to transmit flight images and flight parameters, and the ground playing equipment superposes the flight parameters into the flight images after receiving the flight images and the flight parameters. However, in this way, the flight images are not synchronized with the transmission of the flight parameters, which makes it difficult to match the flight images with the flight parameters.
Disclosure of Invention
The invention aims to provide an unmanned aerial vehicle flight parameter transmission method, an unmanned aerial vehicle, playing equipment, electronic equipment and a storage medium, which can ensure that flight parameters correspond to flight images one by adopting a mode of generating a parameter two-dimensional code by using flight parameters and superposing the parameter two-dimensional code into the flight images at the same time, thereby ensuring that the flight parameters are synchronous with the flight images.
In order to solve the technical problem, the invention provides a flight parameter transmission method of an unmanned aerial vehicle, which is applied to the unmanned aerial vehicle, and comprises the following steps:
acquiring a flight image and flight parameter data at the same time as the flight image;
generating a parameter two-dimensional code by using the flight parameter data, and superposing the parameter two-dimensional code to the flight image;
and sending the superposed flight images to the playing equipment.
Optionally, the sending the superimposed flight image to a playing device includes:
and generating a video stream by using the flight image, and sending the video stream to the playing equipment.
Optionally, the generating a video stream using the flight image includes:
generating an original video stream using the flight image;
and compressing the original video stream by using a preset video stream coding mode to obtain the video stream.
The invention also provides an unmanned aerial vehicle flight parameter transmission method, which is applied to playing equipment and comprises the following steps:
receiving a flight image sent by an unmanned aerial vehicle, and extracting a parameter two-dimensional code in the flight image;
decoding the parameter two-dimensional code to obtain flight parameter data;
and outputting the flight image and the flight parameter data.
Optionally, when the unmanned aerial vehicle uses the compressed video stream to send the flight image to the playing device, the receiving the flight image sent by the unmanned aerial vehicle includes:
receiving a video stream sent by the unmanned aerial vehicle, and decompressing the video stream by using a preset video stream coding mode;
extracting the flight image from the decompressed video stream.
Optionally, the outputting the flight image and the flight parameter data includes:
superimposing the flight parameter data to the flight image;
generating a projection video stream by using the superposed flight images;
outputting the presentation video stream.
The present invention also provides an unmanned aerial vehicle, comprising:
the acquisition module is used for acquiring a flight image and flight parameter data at the same time as the flight image;
the two-dimensional code generation module is used for generating a parameter two-dimensional code by using the flight parameter data and superposing the parameter two-dimensional code into the flight image;
and the sending module is used for sending the superposed flight images to the playing equipment.
The present invention also provides a playback device, including:
the two-dimensional code extraction module is used for receiving a flight image sent by the unmanned aerial vehicle and extracting a parameter two-dimensional code in the flight image;
the decoding module is used for decoding the parameter two-dimensional code to obtain flight parameter data;
and the output module is used for outputting the flight image and the flight parameter data.
The present invention also provides an electronic device comprising:
a memory for storing a computer program;
and the processor is used for realizing the unmanned aerial vehicle flight parameter transmission method when executing the computer program.
The invention also provides a storage medium, wherein the storage medium stores computer-executable instructions, and the computer-executable instructions are loaded and executed by a processor to realize the unmanned aerial vehicle flight parameter transmission method.
The invention provides a flight parameter transmission method of an unmanned aerial vehicle, which is applied to the unmanned aerial vehicle and comprises the following steps: acquiring a flight image and flight parameter data at the same time as the flight image; generating a parameter two-dimensional code by using the flight parameters, and superposing the parameter two-dimensional code to the flight image; and sending the superposed flight images to the playing equipment.
Therefore, the method firstly uses the flight parameters to generate the parameter two-dimensional code, and the parameter two-dimensional code is superposed into the flight image at the same time. In the related technology, the flight images and the flight parameters are sent by the unmanned aerial vehicle in different modes, and the operation of superposing the parameters to the flight images is executed by the ground playing equipment, when the flight images and the flight parameters are sent out asynchronously, the ground playing equipment is difficult to accurately match the flight images and the flight parameters, but in the method, the flight parameters are used for generating the parameter two-dimensional codes, and the parameter two-dimensional codes are superposed to the flight images at the same moment, so that the one-to-one correspondence between the flight parameters and the flight images can be ensured, and further, the synchronization between the flight parameters and the flight images is ensured; meanwhile, because the method only sends the superposed flight images, data paths can be effectively saved, and the transmission efficiency of the flight images and the flight parameters is improved. The invention also provides the unmanned aerial vehicle, the playing equipment, the electronic equipment and the storage medium, and has the beneficial effects.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
Fig. 1 is a flowchart of a method for transmitting flight parameters of an unmanned aerial vehicle according to an embodiment of the present invention;
fig. 2 is a flowchart of another method for transmitting flight parameters of an unmanned aerial vehicle according to an embodiment of the present invention;
fig. 3 is a block diagram of an unmanned aerial vehicle according to an embodiment of the present invention;
fig. 4 is a block diagram of a playing device according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the related technology, the unmanned aerial vehicle respectively adopts different data paths to transmit flight images and flight parameters, and the ground playing equipment superposes the flight parameters into the flight images after receiving the flight images and the flight parameters. However, in this way, the flight images are not synchronized with the transmission of the flight parameters, which makes it difficult to match the flight images with the flight parameters. In view of this, the invention provides a method for transmitting flight parameters of an unmanned aerial vehicle, which can ensure that flight parameters correspond to flight images by generating parameter two-dimensional codes by using flight parameters and superimposing the parameter two-dimensional codes on the flight images at the same time, thereby ensuring that the flight parameters are synchronized with the flight images. Referring to fig. 1, fig. 1 is a flowchart of a method for transmitting flight parameters of an unmanned aerial vehicle according to an embodiment of the present invention, where the method is applied to an unmanned aerial vehicle, and may include:
s101, acquiring a flight image and flight parameter data at the same time as the flight image.
It should be noted that, the embodiment of the present invention does not limit specific shooting parameters of the flight image, such as shooting size, and the user may set the shooting parameters according to actual application requirements. The embodiment of the invention also does not limit specific flight parameter data, such as flight attitude, GPS positioning information, flight altitude and the like, and the user can set the flight parameter data according to the actual application requirements.
And S102, generating a parameter two-dimensional code by using the flight parameter data, and superposing the parameter two-dimensional code to a flight image.
In the correlation technique, flight parameter and flight image adopt different modes to transmit, receive external disturbance when transmission path between them, when the circumstances of transmission rate asynchronism appears, can lead to ground broadcast equipment can't receive the flight parameter and the flight image that generate simultaneously, and then cause flight parameter and flight image asynchronous, and then probably lead to unmanned aerial vehicle driver misjudgment aircraft attitude, bring inconvenience for driver's unmanned aerial vehicle control work. In the embodiment of the invention, the flight parameters are firstly converted into the parameter two-dimensional codes, and then the two-dimensional codes are superposed on the flight images generated at the same time, so that the flight parameters at the same time can be acquired by analyzing the parameter two-dimensional codes when the ground playing equipment receives the flight images, and further the synchronization of the flight parameters and the flight images is ensured. Meanwhile, the method only needs to transmit the flight images, and does not need to adopt other data paths to send flight parameters, so that channel resources between the unmanned aerial vehicle and the ground playing equipment can be effectively saved, and the data transmission efficiency can be improved.
It should be noted that, the embodiment of the present invention does not limit the data capacity of the parameter two-dimensional code, as long as the parameter two-dimensional code can bear all flight parameters to be transmitted, and a user can set the flight parameters according to actual application requirements. The embodiment of the present invention also does not limit the encoding form of the parameter two-dimensional code, for example, the parameter two-dimensional code may be a QR code or a DM code, where the QR code is a matrix two-dimensional code symbol, and the DM code is a data matrix code. Because the QR code is widely applied, the QR code can be adopted. The embodiment of the invention also does not limit the size of the parameter two-dimensional code, as long as the parameter two-dimensional code can be correctly analyzed by the playing equipment. Further, it can be understood that when the parametric two-dimensional code is large, the important information in the flight image may be covered, so in the embodiment of the present invention, the parametric two-dimensional code may be adjusted to a size just capable of being correctly recognized. The embodiment of the invention also does not limit the superposition position of the parameter two-dimensional code in the flight image, and the position can be set arbitrarily. In one possible case, the two-dimensional code may be disposed at the lower right corner of the flying image.
S103, sending the superposed flight images to a playing device.
It should be noted that the embodiment of the present invention does not limit the transmission form of the flight image, for example, the unmanned aerial vehicle may directly send the flight image to the playback device in the form of an image, or may generate a video stream by using the flight image and send the video stream to the playback device. In the embodiment of the invention, in order to improve the efficiency of data transmission and improve the playing and analyzing efficiency of the playing device, the flight images can be synthesized into the video stream, and the video stream is sent to the playing device.
In a possible case, the process of sending the superimposed flying image to the playing device may include:
step 11: and generating a video stream by using the flight image, and sending the video stream to the playing equipment.
Furthermore, the embodiment of the invention does not limit whether the video stream needs to be compressed or not, when the original volume of the video stream is small and can meet the requirement of data transmission of the unmanned aerial vehicle, the video stream does not need to be compressed, and when the original volume of the video stream is large or the efficiency of data transmission of the unmanned aerial vehicle needs to be improved, the video stream can also be compressed. In the embodiment of the invention, in order to improve the data transmission efficiency of the unmanned aerial vehicle, the video stream can be compressed.
In one possible case, the process of generating a video stream using flight images may include:
step 21: generating an original video stream by using the flight image;
step 22: and compressing the original video stream by using a preset video stream coding mode to obtain the video stream.
It should be noted that the embodiment of the present invention does not limit the specific preset video stream encoding mode, for example, the preset video stream encoding mode may be h.264 or h.265, where h.264 and h.265 are both in a digital video compression format, and where h.265 is an upgraded version of h.264.
Based on the embodiment, the method firstly uses the flight parameters to generate the parameter two-dimensional code, and the parameter two-dimensional code is superposed into the flight image at the same time. In the related technology, the flight images and the flight parameters are sent by the unmanned aerial vehicle in different modes, and the operation of superposing the parameters to the flight images is executed by the ground playing equipment, when the flight images and the flight parameters are sent out asynchronously, the ground playing equipment is difficult to accurately match the flight images and the flight parameters, but in the method, the flight parameters are used for generating the parameter two-dimensional codes, and the parameter two-dimensional codes are superposed to the flight images at the same moment, so that the one-to-one correspondence between the flight parameters and the flight images can be ensured, and further, the synchronization between the flight parameters and the flight images is ensured; meanwhile, because the method only sends the superposed flight images, data paths can be effectively saved, and the transmission efficiency of the flight images and the flight parameters is improved.
Based on the foregoing embodiment, please refer to fig. 2, fig. 2 is a flowchart of another method for transmitting flight parameters of an unmanned aerial vehicle according to an embodiment of the present invention, where the method is applied to a playing device, and may include:
s201, receiving a flight image sent by the unmanned aerial vehicle, and extracting a parameter two-dimensional code in the flight image.
It should be noted that the embodiment of the present invention does not limit the specific way of extracting the parameter two-dimensional code, and the way is related to the specific method for sending the flight image by the unmanned aerial vehicle, for example, when the unmanned aerial vehicle directly sends the flight image, the parameter two-dimensional code can be directly extracted from the flight image; when the unmanned aerial vehicle sends the flight images by adopting the video stream, the flight images can be extracted from the video stream, and then the parameter two-dimensional codes are extracted from the flight images; when the unmanned aerial vehicle sends the flight images by adopting the compressed video stream, the video stream can be decompressed firstly, the flight images are extracted from the decompressed video stream, and finally the parameter two-dimensional codes are extracted from the flight images. In consideration of the fact that the unmanned aerial vehicle needs to improve data transmission efficiency, compressed video streams are adopted for flight image transmission, and therefore in the embodiment of the invention, a third mode is adopted for parameter two-dimensional code extraction.
In a possible case, when the drone sends the flight image to the playing device using the compressed video stream, the process of receiving the flight image sent by the drone may include:
step 31: receiving a video stream sent by the unmanned aerial vehicle, and decompressing the video stream by using a preset video stream coding mode;
step 32: flight images are extracted from the decompressed video stream.
S202, decoding the parameter two-dimensional code to obtain flight parameter data.
It should be noted that, the embodiment of the present invention does not limit the decoding method for the parametric two-dimensional code, the decoding method is related to the encoding method for the parametric two-dimensional code, and a user may refer to a related decoding method according to the actually selected encoding method for the parametric two-dimensional code.
And S203, outputting the flight image and the flight parameter data.
It should be noted that, the embodiment of the present invention is not limited to the output manner of the flight image and the flight parameter data, for example, the flight image and the flight parameter may be output to the first display device and the second display device, respectively, or the flight parameter may be superimposed on the flight image, and then the superimposed flight image is output to the display device. In order to facilitate the unmanned aerial vehicle driver to read the flight parameters, in the embodiment of the invention, the flight parameters can be superposed on the flight image, and then the flight image is output to the display device.
Further, the embodiment of the present invention does not limit the output mode of the superimposed flight image, for example, the image may be directly output, or the image may be synthesized into a video stream again and then output through the video stream. In order to ensure the fluency of flying image projection, in the embodiment of the invention, the flying image can be synthesized into a video stream and then output through the video stream.
In one possible case, the process of outputting the flight image and the flight parameter data may include:
step 41: superimposing the flight parameter data to the flight image;
step 42: generating a projection video stream by using the superposed flight images;
step 43: outputting the presentation video stream.
Based on the above embodiment, the playing device in the method can receive the flight image sent by the unmanned aerial vehicle, extract the parameter two-dimensional code from the flight image, and finally obtain the flight parameters generated at the same time as the flight image by analyzing the parameter two-dimensional code, so that the flight parameters can be ensured to be in one-to-one correspondence with the flight image, and further the flight parameters can be ensured to be synchronous with the flight image. Meanwhile, the playing device of the method only needs to receive the flight image without independently receiving the flight parameters, so that data paths can be effectively saved, and the transmission efficiency of the flight image and the flight parameters is improved.
The following introduces an unmanned aerial vehicle, a playing device, an electronic device, and a storage medium provided in an embodiment of the present invention, and the unmanned aerial vehicle, the playing device, the electronic device, and the storage medium described below and the unmanned aerial vehicle flight parameter transmission method described above may be referred to in correspondence with each other.
Referring to fig. 3, fig. 3 is a block diagram of an unmanned aerial vehicle according to an embodiment of the present invention, where the unmanned aerial vehicle may include:
an obtaining module 301, configured to obtain a flight image and flight parameter data at the same time as the flight image;
the two-dimensional code generation module 302 is configured to generate a parameter two-dimensional code by using flight parameter data, and superimpose the parameter two-dimensional code on a flight image;
a sending module 303, configured to send the superimposed flight image to a playing device.
Optionally, the sending module 303 may include:
and the video stream generation submodule is used for generating a video stream by using the flight image and sending the video stream to the playing equipment.
Optionally, the video stream generation sub-module may include:
a video stream generating unit for generating an original video stream using the flight image;
and the compression unit is used for compressing the original video stream by using a preset video stream coding mode to obtain the video stream.
Referring to fig. 4, fig. 4 is a block diagram of a playing device according to an embodiment of the present invention, where the playing device may include:
the two-dimensional code extraction module 401 is configured to receive a flight image sent by the unmanned aerial vehicle, and extract a parameter two-dimensional code in the flight image;
the decoding module 402 is configured to decode the parameter two-dimensional code to obtain flight parameter data;
and an output module 403, configured to output the flight image and the flight parameter data.
Optionally, when the unmanned aerial vehicle sends a flight image to the playing device using the compressed video stream, the two-dimensional code extraction module 401 may include:
the decompression submodule is used for receiving the video stream sent by the unmanned aerial vehicle and decompressing the video stream by utilizing a preset video stream coding mode;
the flight image extraction sub-module is used for extracting flight images from the decompressed video stream;
and the parameter two-dimensional code extraction submodule is used for extracting the parameter two-dimensional code in the flight image.
Optionally, the output module 403 may include:
the superposition submodule is used for superposing the flight parameter data to the flight image;
the video stream generation submodule is used for generating a showing video stream by using the superposed flight images;
and the output submodule is used for outputting the showing video stream.
An embodiment of the present invention further provides an electronic device, including:
a memory for storing a computer program;
and the processor is used for implementing the steps of the unmanned aerial vehicle flight parameter transmission method when executing the computer program.
Since the embodiment of the electronic device part corresponds to the embodiment of the unmanned aerial vehicle flight parameter transmission method part, reference is made to the description of the embodiment of the unmanned aerial vehicle flight parameter transmission method part for the embodiment of the electronic device part, and details are not repeated here.
The embodiment of the invention also provides a storage medium, wherein a computer program is stored on the storage medium, and when being executed by a processor, the steps of the unmanned aerial vehicle flight parameter transmission method in any embodiment are realized.
Since the embodiment of the storage medium portion corresponds to the embodiment of the unmanned aerial vehicle flight parameter transmission method portion, please refer to the description of the embodiment of the unmanned aerial vehicle flight parameter transmission method portion for the embodiment of the storage medium portion, which is not repeated here.
The embodiments are described in a progressive manner in the specification, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
Those of skill would further appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative components and steps have been described above generally in terms of their functionality in order to clearly illustrate this interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. A software module may reside in Random Access Memory (RAM), memory, Read Only Memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.
The unmanned aerial vehicle flight parameter transmission method, the unmanned aerial vehicle, the playing device, the electronic device and the storage medium provided by the invention are described in detail above. The principles and embodiments of the present invention are explained herein using specific examples, which are presented only to assist in understanding the method and its core concepts. It should be noted that, for those skilled in the art, it is possible to make various improvements and modifications to the present invention without departing from the principle of the present invention, and those improvements and modifications also fall within the scope of the claims of the present invention.
Claims (10)
1. A flight parameter transmission method for an unmanned aerial vehicle is applied to the unmanned aerial vehicle, and comprises the following steps:
acquiring a flight image and flight parameter data at the same time as the flight image;
generating a parameter two-dimensional code by using the flight parameter data, and superposing the parameter two-dimensional code to the flight image;
and sending the superposed flight images to the playing equipment.
2. The unmanned aerial vehicle flight parameter transmission method of claim 1, wherein the sending of the superimposed flight image to a playback device comprises:
and generating a video stream by using the flight image, and sending the video stream to the playing equipment.
3. The method of claim 2, wherein the generating a video stream using the flight image comprises:
generating an original video stream using the flight image;
and compressing the original video stream by using a preset video stream coding mode to obtain the video stream.
4. An unmanned aerial vehicle flight parameter transmission method is applied to playing equipment, and the method comprises the following steps:
receiving a flight image sent by an unmanned aerial vehicle, and extracting a parameter two-dimensional code in the flight image;
decoding the parameter two-dimensional code to obtain flight parameter data;
and outputting the flight image and the flight parameter data.
5. The unmanned aerial vehicle flight parameter transmission method according to claim 4, wherein when the unmanned aerial vehicle sends the flight image to the playing device using a compressed video stream, the receiving the flight image sent by the unmanned aerial vehicle includes:
receiving a video stream sent by the unmanned aerial vehicle, and decompressing the video stream by using a preset video stream coding mode;
extracting the flight image from the decompressed video stream.
6. The method of claim 4, wherein outputting the flight image and the flight parameter data comprises:
superimposing the flight parameter data to the flight image;
generating a projection video stream by using the superposed flight images;
outputting the presentation video stream.
7. A drone, characterized in that it comprises:
the acquisition module is used for acquiring a flight image and flight parameter data at the same time as the flight image;
the two-dimensional code generation module is used for generating a parameter two-dimensional code by using the flight parameter data and superposing the parameter two-dimensional code into the flight image;
and the sending module is used for sending the superposed flight images to the playing equipment.
8. A playback apparatus, characterized in that the playback apparatus comprises:
the two-dimensional code extraction module is used for receiving a flight image sent by the unmanned aerial vehicle and extracting a parameter two-dimensional code in the flight image;
the decoding module is used for decoding the parameter two-dimensional code to obtain flight parameter data;
and the output module is used for outputting the flight image and the flight parameter data.
9. An electronic device, comprising:
a memory for storing a computer program;
a processor for implementing the unmanned aerial vehicle flight parameter transmission method of any one of claims 1 to 3 and/or claims 4 to 6 when executing the computer program.
10. A storage medium having stored thereon computer-executable instructions that, when loaded and executed by a processor, carry out a method of unmanned aerial vehicle flight parameter transmission according to any one of claims 1 to 3 and/or claims 4 to 6.
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