CN113316930A - Wireless image transmission method and equipment, photographic device and movable platform - Google Patents
Wireless image transmission method and equipment, photographic device and movable platform Download PDFInfo
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- CN113316930A CN113316930A CN202080008678.8A CN202080008678A CN113316930A CN 113316930 A CN113316930 A CN 113316930A CN 202080008678 A CN202080008678 A CN 202080008678A CN 113316930 A CN113316930 A CN 113316930A
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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
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N1/00—Scanning, transmission or reproduction of documents or the like, e.g. facsimile transmission; Details thereof
- H04N1/00095—Systems or arrangements for the transmission of the picture signal
- H04N1/00103—Systems or arrangements for the transmission of the picture signal specially adapted for radio transmission, e.g. via satellites
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N1/00—Scanning, transmission or reproduction of documents or the like, e.g. facsimile transmission; Details thereof
- H04N1/00885—Power supply means, e.g. arrangements for the control of power supply to the apparatus or components thereof
- H04N1/00888—Control thereof
- H04N1/00896—Control thereof using a low-power mode, e.g. standby
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
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Abstract
The invention discloses a wireless image transmission method, which is applied to image sending equipment and comprises the following steps: starting a discontinuous transmission mode; coding current image data to be sent according to a preset coding period so as to send a current coding data packet corresponding to the current image data to be sent to image receiving equipment; and if the sending time information of the current coding data packet meets a preset condition, generating a first working mode switching instruction for the image sending equipment to enter a power saving mode. The image sending device adopts a discontinuous sending mode when wireless image transmission is carried out, and the sending time information of the sent current coded data packet is used as a judgment condition for controlling the image sending device to enter the power saving mode, so that the image sending device can be controlled to enter the power saving mode when the coded data packet does not need to be sent, and the power consumption and the heat productivity of the image transmission device are reduced.
Description
Technical Field
The present invention relates to the field of wireless image transmission technologies, and in particular, to a wireless image transmission method, an image sending device, an image receiving device, a photographing apparatus, a movable platform, a monitoring apparatus, and a photographing system.
Background
Many rotor unmanned aerial vehicle, remote control robot etc. equipment have obtained very big development in recent years, and these equipment all need remote control, and the wireless image transmission technology that can acquire far-end image in real time has also obtained wide application. Due to factors such as hardware cost, usage charges, network coverage quality and the like, most devices do not use a cellular wireless network to transmit images, but use a wireless image transmission scheme developed based on an unauthorized frequency band.
However, in the wireless image transmission scheme in the prior art, when wireless image transmission is performed, no matter a transmitting end or a receiving end, the radio frequency transceiving related circuit is in a long-open state, and in order to guarantee service requirements and improve anti-interference capability, high power is generally used for transmission as much as possible, which seriously leads to improvement of power consumption.
For the unmanned aerial vehicle field, the increase of consumption can reduce the duration of equipment on the one hand, and on the other hand probably brings serious problem of generating heat. In extreme cases, the device may be rendered unstable or unusable.
Disclosure of Invention
An embodiment of the present invention provides a wireless image transmission method, an image sending device, an image receiving device, a photographing apparatus, a movable platform, a monitoring apparatus, and a photographing system, which are used to solve at least one of the above technical problems.
In a first aspect, an embodiment of the present invention provides a wireless image transmission method applied to an image sending device, where the method includes:
starting a discontinuous transmission mode;
coding current image data to be sent according to a preset coding period so as to send a current coding data packet corresponding to the current image data to be sent to image receiving equipment;
and if the sending time information of the current coding data packet meets a preset condition, generating a first working mode switching instruction for the image sending equipment to enter a power saving mode.
In a second aspect, an embodiment of the present invention provides another wireless image transmission method applied to an image receiving device, where the method includes:
receiving a second working mode switching instruction sent by the image sending equipment;
and switching to a power saving mode in response to the second operating mode switching instruction.
In a third aspect, an embodiment of the present invention provides an image transmission apparatus, including:
the first communication interface is used for being connected with a photographic device to acquire a video image shot by the photographic device;
the wireless image transmission system comprises at least one processor and a memory which is connected with the at least one processor in a communication mode, wherein the memory stores instructions which can be executed by the at least one processor, and the instructions are executed by the at least one processor to realize the wireless image transmission method according to any embodiment of the invention.
In a fourth aspect, an embodiment of the present invention provides a photographing apparatus, including:
a photographing apparatus; an image transmission apparatus according to any one of the embodiments of the present invention; the image sending device is in communication connection with the photographing device to acquire content photographed by the photographing device.
In a fifth aspect, an embodiment of the present invention provides another movable platform, including: a movable body; a camera device according to any one of the embodiments of the present invention mounted on the movable body.
In a sixth aspect, an embodiment of the present invention provides an image receiving apparatus, including:
the second communication interface is used for being connected with display equipment so as to send the received image data to at least the display equipment for displaying;
the wireless image transmission system comprises at least one processor and a memory which is connected with the at least one processor in a communication mode, wherein the memory stores instructions which can be executed by the at least one processor, and the instructions are executed by the at least one processor to realize the wireless image transmission method according to any embodiment of the invention.
In a seventh aspect, an embodiment of the present invention provides a monitoring apparatus, including:
a display device and an image receiving device according to any of the embodiments of the invention for connecting with the display device to transmit received image data to at least the display device.
In an eighth aspect, an embodiment of the present invention provides a photographing system, including:
a movable platform according to any embodiment of the invention, and a monitoring device according to any embodiment of the invention.
In a ninth aspect, an embodiment of the present invention provides a storage medium, on which a computer program is stored, where the computer program is executed by a processor to implement the wireless image transmission method according to any embodiment of the present invention.
In a tenth aspect, the present invention further provides a computer program product, where the computer program product includes a computer program stored on a storage medium, and the computer program includes program instructions, which, when executed by a computer, cause the computer to execute the steps of the wireless image transmission method according to any embodiment of the present invention.
The embodiment of the invention has the beneficial effects that: the image sending device adopts a discontinuous sending mode when wireless image transmission is carried out, and the sending time information of the sent current coded data packet is used as a judgment condition for controlling the image sending device to enter the power saving mode, so that the image sending device can be controlled to enter the power saving mode when the coded data packet does not need to be sent, and the power consumption and the heat productivity of the image transmission device are reduced.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a flow chart of an embodiment of a wireless image transmission method according to the present invention;
FIG. 2 is a flow chart of another embodiment of a wireless image transmission method according to the present invention;
FIG. 3 is a schematic diagram of the relationship between video encoding and decoding and wireless transmission in the present invention;
FIG. 4 is a flow chart of another embodiment of a wireless image transmission method according to the present invention;
FIG. 5 is a flow chart of another embodiment of a wireless image transmission method according to the present invention;
FIG. 6 is a functional block diagram of one embodiment of an image transmitting apparatus of the present invention;
FIG. 7 is a schematic block diagram of an embodiment of a camera device according to the present invention;
FIG. 8 is a functional block diagram of one embodiment of a movable platform of the present invention;
fig. 9 is a schematic structural view of an embodiment of a multi-rotor drone of the present invention;
FIG. 10 is a functional block diagram of one embodiment of an image receiving device of the present invention;
FIG. 11 is a functional block diagram of one embodiment of a monitoring device of the present invention;
FIG. 12 is a schematic block diagram of an embodiment of a camera system of the present invention;
FIG. 13 is an architecture diagram of an embodiment of a camera system 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.
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.
The invention may be described in the general context of computer-executable instructions, such as program modules, being executed by a computer. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform particular tasks or implement particular abstract data types. The invention may also be practiced in distributed computing environments where tasks are performed by remote processing devices that are linked through a communications network. In a distributed computing environment, program modules may be located in both local and remote computer storage media including memory storage devices.
As used in this disclosure, "module," "device," "system," and the like are intended to refer to a computer-related entity, either hardware, a combination of hardware and software, or software in execution. In particular, for example, an element may be, but is not limited to being, a process running on a processor, an object, an executable, a thread of execution, a program, and/or a computer. Also, an application or script running on a server, or a server, may be an element. One or more elements may be in a process and/or thread of execution and an element may be localized on one computer and/or distributed between two or more computers and may be operated by various computer-readable media. The elements may also communicate by way of local and/or remote processes based on a signal having one or more data packets, e.g., from a data packet interacting with another element in a local system, distributed system, and/or across a network in the internet with other systems by way of the signal.
Finally, it should also be noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
In the process of implementing the present invention, the inventor finds that the existing wireless image transmission scheme in the unlicensed frequency band usually adopts the following control method when the power consumption and the heat dissipation cannot meet the product requirements:
1) enhancing heat dissipation capability, e.g., using fans with larger air volume, heat sinks with larger area, etc.;
2) reducing or sacrificing user experience, e.g., reducing specifications, reducing transmit power, temporarily interrupting transmissions, etc.;
the first mode generally brings rise of cost, volume and weight, and limits product design; the second way has a direct impact on user usage; neither solution is capable of solving the problem fundamentally.
In the process of implementing the present invention, in order to solve the technical problems of wireless image transmission in the prior art, the inventors propose various schemes.
For example, considering that the transceiving operation may be performed according to a certain period according to the service characteristics, a low power consumption design may be performed by using a Discontinuous Transmission (DTX)/Discontinuous Reception (DRX) mechanism in a cellular wireless system. However, in the process of implementing the above scheme, the inventors found that, in the wireless image transmission in the unlicensed frequency band, the timing of data transmission and reception has a great uncertainty, specifically:
the wireless image transmission scheme working in the unauthorized frequency band has the following remarkable characteristics:
1) unlike the services with relatively stable transmission rate, such as voice call, video call, etc., of wireless communication, the input video images of video coding are various, and in addition, due to the characteristics of video coding and decoding (the difference of data amount of I frame and P frame is large), the rate of image transmission code stream is greatly changed;
2) since the interference of the unlicensed band is severe, the transmission capacity of the channel varies greatly, and the time required for transmission varies greatly even with a relatively fixed amount of data.
Therefore, the DTX/DRX mechanism in the cellular wireless system cannot be used to set a fixed transceiving period to match the scenario of uncertain data transceiving timing in the unlicensed frequency band.
Further, the inventors have found through research that this uncertainty can be mitigated by employing buffers widely used in the field of communications, such mechanisms often being used in applications like online video playback. However, in the process of implementing the scheme, the inventor finds that the wireless image transmission scheme is generally used for remote control, and is sensitive to transmission delay, and the use of the buffer increases the transmission delay, and even causes that functions such as remote control cannot meet the requirement.
These factors limit the use of DTX/DRX mechanisms similar to cellular radio systems in unlicensed band radio transmission systems, which do not optimize power consumption and heat generation.
Further, the inventor finds that, in the process of implementing the present invention, the code stream of the wireless image transmission has a characteristic that, for an application in a specific scene or a specific specification, when the rate of the code stream of the wireless image transmission reaches a certain upper limit, the rate of the code stream is further increased, and the user experience is not improved. For example, for the remote controller device of the typical quad-rotor unmanned aerial vehicle at present, the receiving end display screen is small, the delay is about 100ms, the requirement can be met, 720p30 can be selected according to the image-based coding specification, at the moment, 30Mbps code stream and 40Mbps code stream are used, and the user experience is almost the same.
On the other hand, although the interference and transmission capability of the unlicensed frequency band have a very large time-varying characteristic, in many scenarios, the transmission capability of the optimally designed system usually exceeds the upper limit of the code stream rate. Typically, in the application of a multi-rotor unmanned aerial vehicle, when a user flies outdoors in a suburban area with less interference, the multi-rotor unmanned aerial vehicle is usually in a line-of-sight range, and at this time, the transmission capability of the system usually exceeds the upper limit of the code stream rate; when the user flies indoors or in a downtown with larger interference, but the distance between the unmanned aerial vehicle and the operating personnel is relatively short, the transmission capacity of the system can exceed the upper limit of the code stream rate.
Video encoded data is typically generated at an encoded frame period, for example, 1/30s (about 33.3ms) for a 30fps transmission. Due to variations in the data source (e.g., differences in I-frame images, P-frame images), the amount of data generated per frame is not exactly the same. It should be added that the encoding frame period is not fixed, depending on the transmission configuration and design implementation. For example, to reduce transmission latency, the transmission configuration may be set to 120fps, and to further reduce transmission latency, a design implementation may also split each image frame into several encoded data packets.
The wireless data transmission is usually transmitted in a wireless frame, and each video coded data packet is divided and carried over several wireless frames for transmission. The bearer capability of each radio frame varies from time to time due to variations in the radio channel. The wireless algorithm can utilize the wireless channel to the maximum extent possible based on various measurement, self-adaptation, error retransmission and other algorithms. The scheme for maximizing the utilization of the wireless channel may adopt a mature scheme of the prior art, and the present invention is not limited thereto.
Due to the time-varying characteristics of video coded data packets and the time-varying characteristics of the carrying capacity of the superimposed radio frames, the time length of wireless data transmission has a large uncertainty, and the uncertainty cannot be predicted in advance.
The inventor finds that by setting a reasonable coding frame period and a reasonable wireless frame length, each frame period corresponds to a plurality of wireless frames, and when the channel capacity is larger than the data transmission requirement, the situation that part of the wireless frames are not transmitted with data transmission occurs. Then, the relevant device may be turned off or set to enter a standby (standby) or sleep (sleep) mode in a time period corresponding to the radio frame without data transmission. For example, a radio frequency transceiver for data transmission and reception, a Low Noise Amplifier (LNA) at a receiving end, a Power Amplifier (PA) at a transmitting end, and the like, thereby saving power consumption.
Finally, based on the above invention history, in order to solve the technical problems of wireless image transmission in the prior art, the inventor creatively provides a wireless image transmission method, an image sending device, a photographing apparatus, a movable platform, an image receiving device, a monitoring apparatus and a photographing system. Wherein the content of the first and second substances,
the wireless image transmission method is performed by an image transmitting apparatus and/or an image receiving apparatus.
The image transmission apparatus may be included in a photographing device having a wireless image transmission function, and the photographing device may be further provided with a pan/tilt mechanism, thereby appearing as a camera pan/tilt.
The photographing device may be matched with a movable mechanism (e.g., a movable platform body) to form a movable platform having a photographing function and a wireless image transmission function, and the movable platform may be a multi-rotor unmanned aerial vehicle, a remote control car, a remote control boat, or the like, which is not limited in this respect.
The image receiving device can be included in a monitoring device, and the monitoring device has a wireless image transmission function and realizes the monitoring function by receiving and displaying images in real time. The monitoring apparatus may be one or a combination of multiple remote controllers, smart phones, tablet computers, head-mounted display devices (e.g., VR glasses), and the like (for example, the smart phone is installed on the remote controller and is in communication with the remote controller to acquire and display an image received by the remote controller, or the remote controller is in communication with the head-mounted display device, and the head-mounted display device acquires and displays an image received by the remote controller to a user), which is not limited in this respect.
The camera system may include a movable platform and a monitoring device. For example, the photography system includes a multi-rotor drone and a remote control.
As shown in fig. 1, an embodiment of the present invention provides a wireless image transmission method applied to an image sending device, including:
step S110, starting a discontinuous transmission mode;
step S120, encoding the current image data to be transmitted according to a preset encoding period so as to transmit a current encoding data packet corresponding to the current image data to be transmitted to an image receiving device;
step S130, if the transmission time information of the current encoded data packet satisfies a preset condition, generating a first operating mode switching instruction for the image transmission device to enter the power saving mode.
The image sending device in the embodiment adopts the discontinuous sending mode when performing wireless image transmission, and uses the sending time information of the sent current coded data packet as the judgment condition for controlling the image sending device to enter the power saving mode, thereby realizing that the image sending device is controlled to enter the power saving mode when the coded data packet does not need to be sent, and reducing the power consumption and the heat productivity of the image transmission device.
In one embodiment, for step S110, the start of the non-contact transmission mode may be started with the start of the image transmission apparatus or in response to a setting operation by the user, which is not limited by the present invention. The setting operation by the user may be directly performed by operating a switch or a button on the image transmission device (or a photographing apparatus including the image transmission device), or may be performed by a remote controller or a smartphone which is communicatively connected to the image transmission device, for example, by the user operating a display interface of application software installed in the smartphone, which is not limited in the present invention.
In one embodiment, for step S120, the image sending device encodes the received image data to be sent according to a preset encoding period, and sends the current encoded data packet obtained by encoding to the image receiving device. The image sending device may receive, in real time, an image frame captured by a photographing device (e.g., a camera), and the current image data to be sent may be the image frame to be sent or a part of image data of the image frame to be sent, which is not limited by the present invention.
In one embodiment, for step S130, if the transmission time information of the current encoded data packet satisfies a preset condition, a first operation mode switching instruction for the image transmission apparatus to enter the power saving mode is generated. The preset condition may be that when the transmission of the current encoded data packet is completed, the next encoded data packet of the current encoded data packet is not yet encoded, that is, it indicates that there is no other encoded data packet to be transmitted temporarily when the transmission of the current encoded data packet is completed, so that the image transmission apparatus may be switched to the power saving mode to achieve the effect of saving power consumption.
In one embodiment, entering the power saving mode for the image transmission apparatus may be turning off or setting a relevant device or circuit for data transmission in the image transmission apparatus to a standby state or a sleep state.
As shown in fig. 2, a schematic flow chart of another embodiment of the image transmission method of the present invention is shown, in this embodiment, further including:
step S140, if the sending time information of the current coding data packet meets the preset condition, generating a second working mode switching instruction for switching the image receiving equipment to the power saving mode;
step S150, sending a second working mode switching instruction to the image receiving equipment; wherein the second operation mode switching instruction is included in the current encoded data packet.
In this embodiment, when the sending time information of the current encoded data packet meets the preset condition, the image sending device is not only switched to the power saving mode, but also a second working mode switching instruction for switching the image receiving device to the power saving mode is generated, so that the sending end and the receiving end can simultaneously save power.
In one embodiment, sending the second operation mode switching instruction to the image receiving apparatus includes: the second operation mode switching instruction is included in the current encoded data packet and transmitted to the image receiving apparatus (for example, the second operation mode switching instruction is encoded in the current encoded data packet). In the embodiment, the second operating mode switching instruction is included in the current encoded data packet for transmission, so that the time cost consumed for independently transmitting the second operating mode switching instruction is saved (for example, in the invention, wireless frames are used for data transmission, and each wireless frame has a certain time length, so that the embodiment can save at least one wireless frame time length), thereby prolonging the time length of the image transmitting device in the power saving mode and saving energy as much as possible. It should be noted that, although the energy saving for the current encoded data packet transmission may be only one radio frame duration, it is to be understood that the number of encoded data packets for wireless image transmission is very large, and accordingly, the considerable energy saving duration accumulated by the very large number of radio frames is also very significant, and the finally achieved energy saving effect is also very significant.
In one embodiment, the second operation mode switching instruction contains time information when the image receiving apparatus switches from the power saving mode back to the operation mode.
In this embodiment, the second operating mode switching instruction can not only trigger the image receiving apparatus to switch to the power saving mode, but also carry time information indicating that the image receiving apparatus switches from the power saving mode back to the operating mode. The image receiving device can analyze the second operation mode switching instruction after receiving the second operation mode switching instruction to obtain the time information, so that the image receiving device can be timely restored to the operation mode to receive the next encoded data packet sent by the image sending device.
In one embodiment, the time information when the image receiving apparatus switches from the power saving mode back to the operation mode may be a completion time when the image transmitting end completes encoding of the next encoded data packet. After obtaining the completion time, the image receiving device may determine, according to the time required for itself to switch from the power saving mode back to the operating mode, the timing for controlling the image receiving device to switch the operating mode in combination with the completion time.
In one embodiment, the time information when the image receiving apparatus switches from the power saving mode back to the operating mode may be that the image transmitting apparatus determines from a previously stored time required for the image transmitting apparatus to switch from the power saving mode back to the operating mode and a completion time when the image transmitting end completes encoding of the next encoded data packet.
In one embodiment, the transmission time information of the current encoded data packet includes a transmission duration for completing transmission of the current encoded data packet; the step of enabling the sending time information of the current coded data packet to meet the preset condition comprises the following steps: the sending time of the current coding data packet meets the preset condition.
In one embodiment, the preset conditions include: and the difference value between the preset coding period and the sending time length of the current coding data packet is greater than the preset time threshold.
In this embodiment, if the transmission duration for completing the transmission of the current encoded data packet is required to be small enough or the difference between the preset encoding period and the transmission duration for completing the transmission of the current encoded data packet is required to be large enough, it indicates that there is sufficient idle time for not requiring the transmission of the encoded data packet, and at this time, the image transmission apparatus can be switched to the power saving mode.
In one embodiment, the preset time threshold is determined according to the time required for the image transmission apparatus to perform the operation mode switching. The present embodiment determines the preset time threshold according to the time required for the image transmission apparatus to perform the operation mode switching, and can ensure the validity of controlling the image transmission apparatus to enter the power saving mode when the condition of the preset time threshold is satisfied.
In one embodiment, the time required for the image transmission apparatus to perform the operation mode switching includes: a first switching period during which the image transmission apparatus switches from the operating mode to the power saving mode and a second switching period during which the image transmission apparatus switches from the power saving mode to the operating mode; the preset time threshold value is determined according to the time required by the image sending equipment to switch the working mode, and the preset time threshold value comprises the following steps: the preset time threshold is determined according to the sum of the first switching time length and the second switching time length.
The embodiment considers the total time length required by the image sending device for switching back and forth between the working mode and the power saving mode, and is calculated independently according to the first switching time length for switching the image sending device from the working mode to the power saving mode and the second switching time length for switching the image sending device from the power saving mode to the working mode, thereby avoiding the condition that the preset time threshold value is inaccurate because the first switching time length is different from the second switching time length, accurately determining the time point for switching the working mode according to the preset time threshold value, on one hand, maximizing the energy saving, and on the other hand, not affecting the normal sending of the coded data packet because the switching is too late.
In one embodiment, the wireless image transmission method of the present invention further includes: configuring a plurality of wireless frames for the current encoded packet to transmit the current encoded packet to the image receiving apparatus.
As shown in fig. 3, which is a schematic diagram of a relationship between video encoding and decoding and wireless transmission in the present invention, a histogram indicates video encoding data (i.e., a coded data packet), the height of the histogram reflects the size of the video encoding data, each frame period corresponds to a plurality of wireless frames, each cell in the histogram represents a wireless frame, the filled cells in the wireless frames corresponding to each encoding frame period indicate data transmission, and the unfilled cells indicate no data transmission. The duration corresponding to the radio frame without data transmission can be used to place the image transmitting device in a power saving mode.
In one embodiment, the wireless image transmission method of the present invention further includes: and when the current coded data packet can be completely transmitted in the current wireless frame, judging whether the transmission time information of the current coded data packet meets a preset condition. And when the current coding data packet cannot be completely sent in the current wireless frame, continuing to send the current coding data packet in the next wireless frame.
In one embodiment, the preset encoding period is determined according to an image transmission frame rate, which may be selected according to actual service requirements, for example, the image transmission frame rate may be 30fps, 60fps, or 120 fps. When the image transmission frame rate is 30fps, the preset encoding frame period is 1/30 s; when the image transmission frame rate is 60fps, the preset encoding frame period is 1/60 s; when the image transmission frame rate is 120fps, the preset encoding frame period is 1/120 s.
In one embodiment, in the wireless image transmission method of the present invention, a plurality of wireless frames are configured for each encoded packet, and the frame length of the wireless frame is configured as: the time required by the image sending equipment for switching the working mode is larger than a first preset multiple and smaller than a second preset multiple of a preset coding period, and the first preset multiple and the second preset multiple are positive numbers smaller than 1. For example, the first preset multiple and the second preset multiple both take a value of 0.1.
In one embodiment, the setting of the wireless frame length satisfies the following requirements:
the length of the wireless frame is obviously smaller than the coding frame period, for example, when the coding frame period is 8ms, the maximum length of the wireless frame is set to be 0.5ms, which is smaller than 1/10 of the coding frame period;
the length of the wireless frame is obviously longer than the setting effective time of the relevant device, for example, the time for the device to enter into standby is 20us, the shortest length of the wireless frame is set to be 0.25ms, and the length of the wireless frame is greater than 1/10 of the switching time of the device.
This arrangement makes it possible to better utilize the channel capacity while maximizing the period during which no data is transmitted as much as possible, i.e., maximizing the period during which the image transmission apparatus is in the power saving mode, and significantly reducing the power consumption of the image transmission apparatus.
The inventor finds that in the process of implementing the invention, the image sending device or the image receiving device has one or more power saving modes, and the time for switching back and forth between different power saving modes and working modes is different. Therefore, the inventors further optimized the wireless image transmission method of the present invention to obtain the following embodiments.
As shown in fig. 4, a schematic flow chart of another embodiment of the wireless image transmission method of the present invention is shown, and the embodiment further includes:
and step S160, if the preset time threshold is unique, controlling the image sending equipment to enter the power saving mode according to the first working mode switching instruction when the difference value is larger than the preset time threshold.
Illustratively, the relevant device of the image transmitting apparatus is turned off in response to the first operation mode switching instruction to enter the power saving mode. For example, the relevant devices of the image transmission apparatus include a radio frequency transceiver and a power amplifier, and the radio frequency transceiver and the power amplifier of the image transmission apparatus are turned off (e.g., set to a standby mode) in response to the first operation mode switching instruction.
Step S170, if the number of the preset time thresholds is n, and n is greater than 1:
step S171, when the difference value is greater than the ith preset time threshold and not greater than the (i + 1) th preset time threshold, controlling the image sending equipment to enter the ith power saving mode according to a first working mode switching instruction, wherein i takes a value from 1 to n-1; in one embodiment, the values of the 1 st to nth time thresholds are gradually increased, and the power saving levels of the 1 st to nth power saving modes are gradually increased.
And step S172, controlling the image sending equipment to enter the nth power saving mode according to the first working mode switching instruction when the difference value is larger than the nth preset time threshold value. Step S170 includes step S171 and step S172.
Different power saving modes of the image sending device correspond to different preset time thresholds, and when the difference value between the preset coding period and the sending time length of the current coding data packet meets any preset time threshold, the image sending device is switched to the corresponding power saving mode, so that the remaining time length of the corresponding preset coding period when the sending of the current coding data packet is completed can be more fully utilized for saving energy.
In one embodiment, when n is 2, the 1 st power saving mode is a standby mode, and the 2 nd power saving mode is a sleep mode. In one embodiment, an image transmission device includes a radio frequency transceiver, a power amplifier; in the standby mode, the radio frequency transceiver and the power amplifier enter the standby mode, and in the sleep mode, the radio frequency transceiver and the power amplifier enter the sleep mode.
For example, there are a plurality of low power consumption modes in some devices of the image transmission apparatus, and power consumption is different in different modes and settling time of setting/restoration is also different. For example, a radio frequency transceiver (RFTransceiver) has two low power consumption modes, a standby mode and a sleep mode, the sleep mode has lower power consumption, but the settling time for setting/recovering is correspondingly longer. In one embodiment, the time required to return from sleep mode to receive mode or transmit mode and the time required to return from standby mode to receive mode or transmit mode are not of the same order of magnitude. For example, the time required to return from the sleep mode to the reception mode or the transmission mode is approximately a msec, and the time required to return from the standby mode to the reception mode or the transmission mode is approximately b μ sec. Where a equals 0.5 and b equals 20. Therefore, the system can be further optimized, when the difference value between the preset coding period and the sending time length of the current coding data packet exceeds the setting/recovering time length of the sleep mode, the system sets the radio frequency transceiver to enter the sleep mode, otherwise, the system enters the standby mode.
In addition to the radio frequency transceiver, devices such as a Low Noise Amplifier (LNA) at a receiving end, a Power Amplifier (PA) at a transmitting end, and the like have various low power consumption modes. The power consumption of these devices typically accounts for 1/3 or more of the overall system power consumption throughout a wireless mapping system.
By using the scheme of the invention, the power consumption of the system can be obviously reduced, and the heating of the system can be reduced. The reduction of power consumption and calorific value can all produce obvious profit to product cost control, user experience promotion etc..
In one embodiment, the wireless image transmission method of the present invention further includes:
aligning the non-image data time required to be sent to the image receiving equipment with the sending time of the current coding data packet, wherein the non-image data comprises equipment state information and/or OSD data;
and sending the current coding data packet and the non-image data according to a time alignment result.
In one embodiment, the transmission time of the current encoded packet is the generation time of the encoded frame.
The inventor finds in the course of implementing the present invention that in practical applications, it is often necessary to transmit data such as control information, status information, etc. in addition to image encoded data of video. For example, in quad-rotor drone applications, osd (onscreen display) data is mainly generated independently of video encoded data. This further exacerbates the time-varying nature of the data source (including video encoded data), making the transmission scheduling of wireless data transmissions more complex.
In the embodiment, when data to be transmitted, such as OSD, exists, the transmission and reception time of the data, such as OSD, is aligned with the time of generating the coded frame, so as to avoid the influence of the transmission and reception of the data, such as OSD, on power saving.
In one embodiment, in a system where erroneous retransmission HARQ is turned on, there may be errors that require retransmission even though the coded packet transmission is complete. The invention is further optimized:
after the receiving end (for example, an image receiving device) finishes sending the coded data packet, the receiving end enters a DTX mode at an interval from a current wireless frame to the generation moment of the next data packet;
and after receiving the DTX indication, the receiving end continues to monitor retransmission data according to the HARQ retransmission setting, and then enters the DRX low power consumption setting after the HARQ retransmission setting is finished.
In one embodiment, the wireless image transmission method of the present invention further includes: and restoring the image transmission device from the power saving mode to the working mode according to the first working mode switching instruction before the end of the current preset coding period corresponding to the current coding data packet.
For example, the current preset encoding period is used for transmitting the current encoded data packet, and at the starting time of the current preset encoding period, a relevant device (e.g., a radio frequency transceiver) of the image transmitting apparatus starts to transmit the current encoded data packet by powering on normally, and a time length required for completing transmission of the current preset encoded data packet is usually less than a time length of the current preset encoding period, so that a certain remaining time length still exists in the current preset encoding period after the transmission of the current encoded data packet is completed, and the relevant device of the image transmitting apparatus can be turned off within the time length, so as to save energy consumption.
Illustratively, the restoring the image transmission apparatus from the power saving mode to the operation mode according to the first operation mode switching instruction before the end of the current preset encoding period corresponding to the current encoded data packet includes: determining the switching time for controlling the image sending equipment to switch the working mode according to the time length required by the image sending equipment to switch from the power saving mode to the working mode and the time when the current preset coding period is finished; and turning on the relevant devices of the image sending equipment at the switching time to restore the work. For example, the radio frequency transceiver and the power amplifier of the image transmission apparatus are turned on at the switching timing.
As shown in fig. 5, a wireless image transmission method according to another embodiment of the present invention is applied to an image receiving apparatus, and the method includes:
and step S210, receiving a second working mode switching instruction sent by the image sending equipment.
Illustratively, the image transmitting apparatus encodes image data to be transmitted according to a preset encoding cycle to transmit to the image receiving apparatus; and if the sending time information of the sent current coding data packet meets a preset condition, generating a second working mode switching instruction for the image receiving equipment to enter the power saving mode.
And step S220, responding to a second working mode switching instruction to switch to the power saving mode.
Illustratively, the image receiving end receives the second working mode switching instruction, which indicates that the image sending end has finished sending the current encoded data packet, and the image receiving end also finishes receiving the current encoded data packet, and no data needs to be received within a certain time period thereafter, so that the image receiving end switches to the power saving mode in response to the second working mode switching instruction, and the effect of saving energy consumption is achieved.
In one embodiment, the image receiving apparatus is configured with an encoded packet reception period for receiving an encoded packet, and further includes, before switching to the power saving mode in response to the second operation mode switching instruction: and judging whether the receiving time of the second working mode switching instruction received by the image receiving equipment meets the working mode switching condition or not, and if so, switching to the power-saving mode. Illustratively, a radio frequency transceiver and a Power Amplifier (PA) of the image receiving apparatus and the like are turned off.
In one embodiment, the determining whether the reception timing at which the image receiving apparatus receives the second operation mode switching instruction satisfies the operation mode switching condition includes:
determining the remaining time length from the receiving time to the end of the receiving period of the current coded data packet;
and judging whether the remaining time length meets the working mode switching condition or not.
In practical applications, the second operation mode switching command sent by the image sending device may reach the image receiving device with a delay due to instability of a wireless channel or other external environmental influences, and at this time, the current encoded data packet receiving period of the image receiving device may be exhausted (i.e., the remaining time is short), and the condition for performing the operation mode switching may not be met actually.
In this embodiment, after receiving the second working mode switching instruction, the image receiving apparatus is not directly switched to the power saving mode, but further determines whether the remaining duration from the receiving time to the end of the current encoded data packet receiving period meets the working mode switching condition, so as to ensure the effectiveness of working mode switching.
In one embodiment, the determining whether the remaining duration satisfies the operating mode switching condition includes: and judging whether the residual time length meets the condition that the residual time length is larger than a preset time threshold value, wherein the preset time threshold value is determined according to the time length required by the image receiving equipment for switching from the working mode to the power saving mode.
In one embodiment, switching to the power saving mode in response to the second operation mode switching instruction comprises: determining time information for completing receiving the current coding data packet in response to the second working mode switching instruction;
generating a third working mode switching instruction according to the time information of finishing receiving the current coding data packet;
and switching to a power saving mode according to the third working mode switching instruction.
In one embodiment, the second operation mode switching instruction contains time information for the image receiving apparatus to switch from the power saving mode back to the operation mode; the method further comprises the following steps:
generating a fourth working mode switching instruction according to the time information of switching the image receiving equipment from the power saving mode to the working mode;
and switching back to the working mode according to the fourth working mode switching instruction.
In one embodiment, the wireless image transmission method of the present invention further includes: receiving the current encoding data packet and non-image data transmitted by the image transmitting device; and the current coded data packet and the non-image data are transmitted after being transmitted by the image transmitting equipment and aligned in time.
In one embodiment, the non-image data includes device state information and/or OSD data.
In one embodiment, the present invention also provides an image transmission apparatus.
As shown in fig. 6, a schematic block diagram of an embodiment of an image sending apparatus 1122 provided in the present invention is provided, in which the image sending apparatus 1122 includes:
a first communication interface 11221 for connecting with a photographing apparatus to acquire a video image photographed by the photographing apparatus;
at least one processor 11222, and a memory 11223 communicatively coupled to the at least one processor, wherein the memory stores instructions executable by the at least one processor for execution by the at least one processor to implement a wireless image transmission method according to any embodiment of the invention.
In one embodiment, the present invention also provides a photographing apparatus.
Fig. 7 is a schematic block diagram of an embodiment of a camera device 1120 provided in the present invention, in which the camera device 1120 includes: a photographing apparatus 1121; and an image sending device 1122 according to any of the embodiments of the present invention; the image transmission apparatus 1122 is communicatively connected to the photographing apparatus 1121 to acquire a video image captured by the photographing apparatus 1121.
In one embodiment, the present invention also provides a movable platform.
Fig. 8 is a schematic block diagram of an embodiment of a movable platform 1100 provided in the present invention, in which the movable platform 1100 includes: a movable body 1110 and a photographing device 1120 according to any one embodiment of the present invention mounted on the movable body 1110. The movable platform 1100 may be a multi-rotor drone, unmanned ship, unmanned vehicle, pan-tilt.
Fig. 9 is a schematic structural diagram of an embodiment of the multi-rotor drone according to the present invention.
In one embodiment, the present invention also provides an image receiving apparatus.
Fig. 10 is a schematic block diagram of an embodiment of an image receiving apparatus 1220 provided in the present invention, where the image receiving apparatus 1220 includes:
a second communication interface 1221, configured to connect to a display device, so as to send the received image data to at least the display device for display;
at least one processor 1222 and a memory 1223 communicatively coupled to the at least one processor, wherein the memory stores instructions executable by the at least one processor for performing a method for wireless image transmission according to any of the embodiments of the present invention.
In one embodiment, the present invention also provides a monitoring device,
fig. 11 is a schematic block diagram of an embodiment of a monitoring apparatus 1200 according to the present invention, in which the monitoring apparatus 1200 includes: a display device 1210, and an image receiving device 1220 according to any embodiment of the invention, for communicatively coupling with the display device 1210 to transmit received image data to at least the display device 1210.
In one embodiment, the present invention also provides a photographing system.
Fig. 12 is a schematic block diagram of an embodiment of a camera system 1000 according to the present invention, in which the camera system 1000 includes: a movable platform 1100 according to any of the embodiments of the invention, and a monitoring device 1200 according to any of the embodiments of the invention.
Fig. 13 is a schematic structural diagram of a photography system according to an embodiment of the present invention, which includes a multi-rotor drone 1100 and a remote controller 1200 communicatively connected thereto.
In one embodiment, the present invention further provides a storage medium having a computer program stored thereon, wherein the computer program is configured to implement a wireless image transmission method according to any one of the embodiments of the present invention when executed by a processor.
It should be noted that for simplicity of explanation, the foregoing method embodiments are described as a series of acts or combination of acts, but those skilled in the art will appreciate that the present invention is not limited by the order of acts, as some steps may occur in other orders or concurrently in accordance with the invention. Further, those skilled in the art should also appreciate that the embodiments described in the specification are preferred embodiments and that the acts and modules referred to are not necessarily required by the invention. In the foregoing embodiments, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a general hardware platform, and certainly can also be implemented by hardware. Based on such understanding, the above technical solutions substantially or contributing to the related art may be embodied in the form of a software product, which may be stored in a computer-readable storage medium, such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method according to the embodiments or some parts of the embodiments.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (33)
1. A wireless image transmission method applied to an image sending device is characterized by comprising the following steps:
starting a discontinuous transmission mode;
coding current image data to be sent according to a preset coding period so as to send a current coding data packet corresponding to the current image data to be sent to image receiving equipment;
and if the sending time information of the current coding data packet meets a preset condition, generating a first working mode switching instruction for the image sending equipment to enter a power saving mode.
2. The method of claim 1, further comprising:
if the sending time information of the current coding data packet meets a preset condition, generating a second working mode switching instruction for switching the image receiving equipment to the power saving mode;
sending the second working mode switching instruction to the image receiving equipment;
wherein the second operation mode switching instruction is included in the current encoded packet.
3. The method according to claim 2, wherein the second operation mode switching instruction contains time information for the image receiving apparatus to switch from the power saving mode back to the operation mode.
4. The method of claim 1, wherein the transmission time information of the current encoded packet comprises a transmission duration for completing transmission of the current encoded packet;
the sending time information of the current coding data packet meeting the preset conditions comprises the following steps:
and the sending time length of the current coding data packet meets a preset condition.
5. The method of claim 1, further comprising:
and when the current coding data packet can be completely transmitted in the current wireless frame, judging whether the transmission time information of the current coding data packet meets a preset condition.
6. The method according to claim 4, wherein the preset conditions include: and the difference value between the preset coding period and the sending time length of the current coding data packet is greater than a preset time threshold value.
7. The method according to claim 6, wherein the preset time threshold is determined according to the time required for switching the operation mode of the image transmission device.
8. The method according to claim 7, wherein the time required for the image transmission apparatus to perform the operation mode switching includes: a first switching period during which the image transmission apparatus switches from the operating mode to the power saving mode and a second switching period during which the image transmission apparatus switches from the power saving mode to the operating mode;
the determining of the preset time threshold according to the time required by the image sending device to switch the working mode comprises the following steps:
the preset time threshold is determined according to the sum of the first switching time length and the second switching time length.
9. The method according to claim 1, wherein the predetermined coding period is determined according to an employed image transmission frame rate.
10. The method of claim 9, wherein a plurality of radio frames are configured for each encoded packet, and wherein a frame length of the radio frames is configured to: the time required by the image sending equipment for switching the working mode is larger than a first preset multiple and smaller than a second preset multiple of the preset coding period, and the first preset multiple and the second preset multiple are positive numbers smaller than 1.
11. The method of claim 10, wherein the first predetermined multiple and the second predetermined multiple each have a value of 0.1.
12. The method of claim 6,
if the preset time threshold is unique, controlling the image sending equipment to enter a power saving mode according to the first working mode switching instruction when the difference value is larger than the preset time threshold;
if the number of the preset time threshold values is n, and n is greater than 1, then:
when the difference value is larger than an ith preset time threshold and not larger than an ith +1 th preset time threshold, controlling the image sending equipment to enter an ith power saving mode according to the first working mode switching instruction, wherein i takes a value from 1 to n-1;
and when the difference value is larger than the nth preset time threshold value, controlling the image sending equipment to enter the nth power saving mode according to the first working mode switching instruction.
13. The method according to claim 12, wherein the values of the 1 st to nth time thresholds are gradually increased, and the power saving levels of the 1 st to nth power saving modes are gradually increased.
14. The method of claim 13, wherein when n is 2, the 1 st power saving mode is a standby mode, and the 2 nd power saving mode is a sleep mode.
15. The method of claim 14, wherein the image sending device comprises a radio frequency transceiver, a power amplifier; in the standby mode, the radio frequency transceiver and the power amplifier enter a standby mode, and in the sleep mode, the radio frequency transceiver and the power amplifier enter a sleep mode.
16. The method of claim 1, further comprising:
aligning the non-image data time needing to be sent to the image receiving equipment with the sending time of the current coding data packet;
and sending the current coding data packet and the non-image data according to a time alignment result.
17. The method of claim 16, wherein the non-image data comprises device state information and/or OSD data.
18. The method of claim 1, further comprising: and restoring the image transmission device from the power saving mode to the working mode according to the first working mode switching instruction before the end of the current preset coding period corresponding to the current coding data packet.
19. A wireless image transmission method is applied to an image receiving device, and is characterized by comprising the following steps:
receiving a second working mode switching instruction sent by the image sending equipment;
and switching to a power saving mode in response to the second operating mode switching instruction.
20. The method of claim 19, wherein the second operating mode switching instruction is obtained by:
coding an image to be sent according to a preset coding period so as to send the image to an image receiving device;
and if the sending time information of the sent current coding data packet meets a preset condition, generating a second working mode switching instruction for the image receiving equipment to enter the power saving mode.
21. The method of claim 19, wherein switching to a power saving mode in response to the second operating mode switching instruction comprises: determining time information for completing receiving the current coding data packet in response to the second working mode switching instruction;
generating a third working mode switching instruction according to the time information of finishing receiving the current coding data packet;
and switching to a power saving mode according to the third working mode switching instruction.
22. The method according to claim 21, wherein the second operation mode switching instruction contains time information for the image receiving apparatus to switch from the power saving mode back to the operation mode; the method further comprises the following steps:
generating a fourth working mode switching instruction according to the time information of switching the image receiving equipment from the power saving mode to the working mode;
and switching back to the working mode according to the fourth working mode switching instruction.
23. The method of claim 20, further comprising: receiving the current encoding data packet and non-image data transmitted by the image transmitting device; and the current coded data packet and the non-image data are transmitted after being transmitted by the image transmitting equipment and aligned in time.
24. The method of claim 23, wherein the non-image data comprises device state information and/or OSD data.
25. An image transmission apparatus comprising:
the first communication interface is used for being connected with a photographic device to acquire a video image shot by the photographic device;
at least one processor, and a memory communicatively coupled to the at least one processor, wherein the memory stores instructions executable by the at least one processor to perform the method of wireless image transmission according to any of claims 1-18.
26. A photographic apparatus, comprising:
a photographing apparatus; and
the image transmission apparatus according to claim 25; the image sending device is in communication connection with the photographing device to acquire a video image photographed by the photographing device.
27. A movable platform, comprising:
a movable body; and
a camera device according to claim 26 mounted on the movable body.
28. The movable platform of claim 27, wherein the movable platform can be a multi-rotor drone, an unmanned ship, an unmanned vehicle, a pan-tilt head.
29. A storage medium having stored thereon a computer program, characterized in that the program, when being executed by a processor, is adapted to carry out the steps of the method of any of claims 1-18.
30. An image receiving apparatus comprising:
the second communication interface is used for being connected with display equipment so as to send the received image data to at least the display equipment for displaying;
at least one processor, and a memory communicatively coupled to the at least one processor, wherein the memory stores instructions executable by the at least one processor to perform the method of wireless image transmission according to any one of claims 19-24.
31. A monitoring device, comprising:
a display device, and
the image receiving device of claim 30, configured to communicatively couple with the display device to transmit the received image data to at least the display device.
32. A photography system, comprising: a movable platform according to claim 27 and a monitoring device according to claim 31.
33. A storage medium on which a computer program is stored which, when being executed by a processor, carries out the steps of the method of any one of claims 19 to 24.
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| PCT/CN2020/117475 WO2022061657A1 (en) | 2020-09-24 | 2020-09-24 | Wireless image transmission method and device, photographing apparatus, and mobile platform |
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| CN102860093A (en) * | 2010-03-09 | 2013-01-02 | 三星电子株式会社 | Communication Method Of A Transmission Apparatus And A Reception Apparatus |
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| CN110225338A (en) * | 2016-12-30 | 2019-09-10 | 深圳市大疆创新科技有限公司 | Image processing method, device, unmanned vehicle and receiving end |
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