WO2019019128A1 - Video transmission method, device, and system - Google Patents

Video transmission method, device, and system Download PDF

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Publication number
WO2019019128A1
WO2019019128A1 PCT/CN2017/094845 CN2017094845W WO2019019128A1 WO 2019019128 A1 WO2019019128 A1 WO 2019019128A1 CN 2017094845 W CN2017094845 W CN 2017094845W WO 2019019128 A1 WO2019019128 A1 WO 2019019128A1
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WO
WIPO (PCT)
Prior art keywords
video data
processor
buffer
encoded
encoded video
Prior art date
Application number
PCT/CN2017/094845
Other languages
French (fr)
Chinese (zh)
Inventor
熊川樘
李泽飞
范礼明
吴智强
Original Assignee
深圳市大疆创新科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to PCT/CN2017/094845 priority Critical patent/WO2019019128A1/en
Priority to CN201780012819.1A priority patent/CN108702511A/en
Publication of WO2019019128A1 publication Critical patent/WO2019019128A1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U20/00—Constructional aspects of UAVs
    • B64U20/80—Arrangement of on-board electronics, e.g. avionics systems or wiring
    • B64U20/87—Mounting of imaging devices, e.g. mounting of gimbals
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N19/00—Methods or arrangements for coding, decoding, compressing or decompressing digital video signals
    • H04N19/10—Methods or arrangements for coding, decoding, compressing or decompressing digital video signals using adaptive coding
    • H04N19/169—Methods or arrangements for coding, decoding, compressing or decompressing digital video signals using adaptive coding characterised by the coding unit, i.e. the structural portion or semantic portion of the video signal being the object or the subject of the adaptive coding
    • H04N19/17—Methods or arrangements for coding, decoding, compressing or decompressing digital video signals using adaptive coding characterised by the coding unit, i.e. the structural portion or semantic portion of the video signal being the object or the subject of the adaptive coding the unit being an image region, e.g. an object
    • H04N19/172—Methods or arrangements for coding, decoding, compressing or decompressing digital video signals using adaptive coding characterised by the coding unit, i.e. the structural portion or semantic portion of the video signal being the object or the subject of the adaptive coding the unit being an image region, e.g. an object the region being a picture, frame or field
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N19/00—Methods or arrangements for coding, decoding, compressing or decompressing digital video signals
    • H04N19/85—Methods or arrangements for coding, decoding, compressing or decompressing digital video signals using pre-processing or post-processing specially adapted for video compression
    • 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

Definitions

  • the embodiments of the present invention relate to the field of video transmission, and in particular, to a method, device, and system for video transmission.
  • the unmanned aerial vehicle can be used for aerial photography after being equipped with a shooting device, and the communication system of the unmanned aerial vehicle can transmit an image or video captured by the shooting device to the ground end, such as a remote controller, and the remote controller can further transmit the image or video to the user.
  • Devices such as mobile phones, tablets, computers, etc.
  • the image or video can be sent to the server on the network side, such as a cloud server or a server cluster.
  • the player of the remote user can access the server and play the image or video from the server.
  • each frame of video transmitted from the UAV to the player needs to pass through multiple devices and multiple links, the transmission time of each frame of the video from the UAV to the player is large, resulting in live video. The delay is large.
  • the embodiment of the invention provides a method, a device and a system for video transmission, so as to shorten the delay of video live broadcast.
  • a first aspect of the embodiments of the present invention provides a method for video transmission, which is applied to an unmanned aerial vehicle, including:
  • the video data after discarding the preset type of image frame is encoded by the processor
  • the encoded video data is transmitted to the remote control device through the communication interface.
  • a second aspect of the embodiments of the present invention provides a method for video transmission, which is applied to an unmanned aerial vehicle, including:
  • the video data does not pass through a buffer of the buffer
  • the encoded video data is not buffered by the buffer before the encoded video data is transmitted to the remote control device through the communication interface.
  • a third aspect of the present invention provides a method for video transmission, which is applied to a remote control device, including:
  • the video data after receiving the encoded video data sent by the UAV through the communication interface, the video data does not pass through the buffer of the buffer;
  • the video data does not pass through the buffer of the buffer before the encoded video data is transmitted to the terminal device by the processor.
  • a fourth aspect of the embodiments of the present invention provides a method for video transmission, which is applied to a terminal device connected to a remote control device, including:
  • the video data after discarding the preset type of image frame is encoded by the processor
  • the encoded video data is transmitted to the streaming server by the processor.
  • a fifth aspect of the present invention provides a method for video transmission, which is applied to a terminal device connected to a remote control device, including:
  • Video data is not buffered by the buffer
  • the encoded video data is not buffered by the buffer before the encoded video data is sent to the streaming server by the processor.
  • a sixth aspect of the embodiments of the present invention provides a video transmission method, which is applied to a streaming media server, and includes:
  • the video data after discarding the preset type of image frame is encoded by the processor
  • the encoded video data is transmitted to the remote device by the processor.
  • a seventh aspect of the embodiments of the present invention provides a video transmission method, which is applied to a streaming media server, and includes:
  • the encoded video data does not pass through a buffer of the buffer
  • the encoded video data is not buffered by the buffer before the encoded video data is transmitted to the remote device by the processor.
  • An eighth aspect of the embodiments of the present invention provides an unmanned aerial vehicle, including:
  • a photographing device for acquiring video data
  • a processor configured to discard a preset type of image frame in the video data
  • a communication interface for transmitting encoded video data to a remote control device.
  • a ninth aspect of the embodiments of the present invention provides an unmanned aerial vehicle, including:
  • a photographing device for acquiring video data
  • a processor configured to encode the video data
  • a communication interface configured to send the encoded video data to the remote control device
  • the video data does not pass through a buffer of a buffer
  • the encoded video data does not pass through the buffer buffer.
  • a tenth aspect of the embodiments of the present invention provides a remote control device, including:
  • a communication interface for receiving encoded video data sent by the UAV
  • a processor configured to send the encoded video data to a terminal device
  • the communication interface After the communication interface receives the encoded video data sent by the UAV, the video data does not pass through the buffer of the buffer;
  • the video data does not pass through the buffer of the buffer.
  • An eleventh aspect of the embodiments of the present invention provides a terminal device, including: a communication interface and a processor;
  • the communication interface is configured to receive encoded video data sent by a remote control device, where the encoded video data is obtained by encoding video data captured by a shooting device carried by an unmanned aerial vehicle;
  • the processor is used to:
  • the encoded video data is sent to the streaming server.
  • a twelfth aspect of the embodiments of the present invention provides a terminal device, including: a communication interface and a processor;
  • the communication interface is configured to receive encoded video data sent by a remote control device, where the encoded video data is obtained by encoding video data captured by a shooting device carried by an unmanned aerial vehicle;
  • the processor is used to:
  • the encoded video data does not pass through a buffer of a buffer
  • the encoded video data is not buffered by the buffer before the processor sends the encoded video data to the streaming server.
  • a thirteenth aspect of the embodiments of the present invention provides a streaming media server, including: a communication interface and a processor;
  • the communication interface is configured to receive encoded video data sent by the terminal device, where the encoded video data is obtained by encoding video data captured by a shooting device carried by the unmanned aerial vehicle;
  • the processor is used to:
  • the encoded video data is sent to the remote device.
  • a fourteenth aspect of the embodiments of the present invention provides a streaming media server, including: a communication interface and a processor;
  • the communication interface is configured to receive encoded video data sent by the terminal device, where the encoded video data is obtained by encoding video data captured by a shooting device carried by the unmanned aerial vehicle;
  • the processor is used to:
  • the encoded video data does not pass through a buffer of a buffer
  • the encoded video data is not buffered by the buffer until the processor sends the encoded video data to the remote device.
  • a fifteenth aspect of the embodiments of the present invention provides a video transmission system, including:
  • An unmanned aerial vehicle according to the eighth aspect or the ninth aspect
  • the terminal device according to the eleventh or twelfth aspect
  • the streaming media server of the thirteenth aspect or the fourteenth aspect is the streaming media server of the thirteenth aspect or the fourteenth aspect.
  • the method, device, and system for video transmission obtained by the embodiment obtain video data by using a photographing device carried by an unmanned aerial vehicle, and discard the preset type of image frame in the video data, and discard the preset type of image frame.
  • the video data is encoded, and the encoded video data is sent to the remote control device, and the image frame of the preset type is discarded, thereby reducing the computation amount of the video coding and reducing the transmission amount of the encoded video data. It saves the video coding time of the UAV and saves the transmission time of the encoded video data from the UAV to the remote control device. In addition, it saves the time for the remote device to decode the video data and reduces the decoding of the remote device. The complexity of video data, which shortens the delay of live video.
  • FIG. 1 is a schematic structural diagram of a system for video transmission according to an embodiment of the present invention
  • FIG. 2 is a flowchart of a method for video transmission according to an embodiment of the present invention
  • FIG. 3 is a schematic structural diagram of another system for video transmission according to an embodiment of the present invention.
  • FIG. 4 is a flowchart of a method for video transmission according to another embodiment of the present invention.
  • FIG. 5 is a flowchart of video data processing according to an embodiment of the present invention.
  • FIG. 6 is a flowchart of a method for video transmission according to another embodiment of the present invention.
  • FIG. 7 is a flowchart of a method for video transmission according to another embodiment of the present invention.
  • FIG. 8 is a flowchart of a method for video transmission according to another embodiment of the present invention.
  • FIG. 9 is a flowchart of another video data processing according to an embodiment of the present invention.
  • FIG. 10 is a flowchart of a method for video transmission according to an embodiment of the present invention.
  • FIG. 11 is a schematic structural diagram of another system for video transmission according to an embodiment of the present disclosure.
  • FIG. 12 is a flowchart of a method for video transmission according to an embodiment of the present invention.
  • FIG. 13 is a schematic structural diagram of another system for video transmission according to an embodiment of the present disclosure.
  • FIG. 14 is a flowchart of a method for video transmission according to an embodiment of the present invention.
  • FIG. 15 is a flowchart of a method for video transmission according to an embodiment of the present invention.
  • FIG. 16 is a schematic structural diagram of another system for video transmission according to an embodiment of the present disclosure.
  • FIG. 17 is a flowchart of a method for video transmission according to an embodiment of the present invention.
  • FIG. 18 is a flowchart of a method for video transmission according to an embodiment of the present invention.
  • FIG. 19 is a flowchart of a method for video transmission according to an embodiment of the present invention.
  • FIG. 20 is a structural diagram of an unmanned aerial vehicle according to an embodiment of the present invention.
  • a component when referred to as being "fixed” to another component, it can be directly on the other component or the component can be in the middle. When a component is considered to "connect” another component, it can be directly connected to another component or possibly a central component.
  • the UAV 11 is equipped with a photographing device 111 through a pan/tilt head 110, and the photographing device 111 is used to capture an image or video, and the UAV 11 transmits image information or video data photographed by the photographing device 111 to a remote control of the ground.
  • the device 12, the flying hand can control the unmanned aerial vehicle 11 to fly through the remote control device 12.
  • the remote control device 12 can also communicate with the terminal device 13 in a wired communication or wireless communication, and communicates with the terminal device 13 through the remote control device 12, and the remote control device 12 transmits the unmanned aerial vehicle 11 that it receives.
  • the image information or the video data is sent to the terminal device 13.
  • the terminal device 13 may be a mobile phone, a tablet computer, a notebook computer, or the like.
  • the flying hand can view the image information or video data captured by the photographing device 111 mounted on the UAV 11 through the terminal device 13.
  • the image information or video data may be sent to the remote server 15 through the base station 14 through the terminal device 13.
  • the remote server 15 may specifically be a streaming media server.
  • the remote server 15 communicates with the remote device 16, which retrieves the image information or video data from the remote server 15.
  • each frame of image captured by the photographing device 111 needs to pass through the UAV 11 , the remote control device 12 , the terminal device 13 , the base station 14 , and the remote server 15 to reach the remote device 16 , because the UAV 11 and the remote control device 12 .
  • One or more of the terminal device 13, the base station 14, and the remote server 15 may place each frame of image into a buffer for buffering, resulting in a transmission delay of the image per frame from the unmanned aerial vehicle 11 to the remote device 16.
  • each frame of image from the unmanned aerial vehicle 11 to the remote device 16 needs to go through multiple communication links. If the transmission rate of multiple communication links is low, the transmission delay of each frame of image will be further increased.
  • the remote user wants to view the smooth video data through the remote device 16, and the delay of the live broadcast of the video is large due to the large transmission delay of each frame of the image, and the remote user may not be able to watch the smoothness.
  • Video data In order to solve the problem, the embodiment provides a The method of video transmission, the method of video transmission is introduced below in conjunction with a specific embodiment.
  • FIG. 2 is a flowchart of a method for video transmission according to an embodiment of the present invention.
  • the method for video transmission provided by the embodiment of the present invention is applied to an unmanned aerial vehicle. As shown in FIG. 2, the method in this embodiment may include:
  • Step S201 acquiring video data by a photographing device mounted on the UAV.
  • the execution body of the method of this embodiment may be an unmanned aerial vehicle, and may specifically be a processor in an unmanned aerial vehicle, and the processor may be a general-purpose or dedicated processor, or may be a flight controller.
  • the unmanned aerial vehicle 11 is equipped with a photographing device 111 through the pan/tilt head 110, and the photographing device 111 is used to capture an image or video, and the processor 112 in the unmanned aerial vehicle 11 can acquire the video data captured by the photographing device 111.
  • the photographing device 111 transmits the captured video data to the processor 112 in real time.
  • the video data captured by the photographing device 111 may include different types of image frames, for example, an intra picture is referred to as an I frame, and a predictive-frame is referred to as a P frame.
  • a bi-directional prediction frame is abbreviated as a B frame.
  • the I frame can be regarded as a result obtained by compressing a frame of the image itself.
  • the entire image can be reconstructed only by using the data of the I frame.
  • the frame needs to be compressed according to different points of the current frame and the adjacent previous frame (I frame or B frame), and the P frame and the adjacent previous frame need to be combined in decoding.
  • I frame or B frame Generates a complete image of one frame.
  • Step S202 Discard the preset type of image frame in the video data by using a processor.
  • the image frame of the preset type in the video data is discarded.
  • the preset type of image frame includes at least one of a bidirectional predictive coding frame and a forward predictive coding frame.
  • the processor 112 discards the bidirectionally predictive coded frame, i.e., the B frame, in the video data. Since the B frame needs to refer to its preceding and succeeding frames to complete the decoding, if a B frame needs to be referenced to the next 10 frames to decode, decoding one B frame will result in a delay of 10 frames.
  • the processor 112 may discard the forward predictive coded frame, i.e., the P frame, in the video data, or the processor 112 may also discard the partial B frame and the partial P frame.
  • Step S203 The video data after discarding the preset type of image frame is encoded by the processor.
  • the processor 112 encodes the video data after the B frame is discarded to obtain the encoded video data. This embodiment does not limit the specific coding method.
  • Step S204 Send the encoded video data to the remote control device through the communication interface.
  • the processor 112 transmits the encoded video data to the remote control device 12 via the communication interface 113 of the unmanned aerial vehicle 11.
  • the remote control device 12 transmits the encoded video data to the terminal device 13, and the terminal device 13 transmits the encoded video data to the remote server 15 through the base station 14, and the remote device 16 acquires the encoded video data from the remote server 15. And decoding the encoded video data. Since the encoded video data does not include the B frame, the remote device 16 does not need to refer to the frame behind the current frame when decoding the encoded video data. The current frame can be decoded to obtain a complete image and displayed.
  • video data is acquired by a photographing device carried by an unmanned aerial vehicle, and a preset type of image frame in the video data is discarded, and video data after discarding a preset type of image frame is encoded, and the encoded image is encoded.
  • the video data is sent to the remote control device, and the image frame of the preset type is discarded, thereby reducing the calculation amount of the video coding, and reducing the transmission amount of the encoded video data, thereby saving the video coding time of the unmanned aerial vehicle, and
  • the transmission time of the encoded video data from the unmanned aerial vehicle to the remote control device is saved, and the time for the remote device to decode the video data is saved, and the complexity of decoding the video data by the remote device is reduced, thereby shortening the live video. Delay.
  • FIG. 4 is a flowchart of a method for video transmission according to another embodiment of the present invention. As shown in FIG. 4, on the basis of the embodiment shown in FIG. 2, the method in this embodiment may include:
  • Step S401 Acquire video data by a photographing device mounted on the UAV.
  • 50 denotes video data captured by the photographing device 111 acquired by the processor 112 in the UAV 11, and the video data includes a number of I frames, B frames, and P frames, where the indication is indicated.
  • the description does not limit the number of image frames in the video data, nor does it limit I.
  • Step S402 discarding, by the processor, a preset type of image frame in the video data.
  • the processor 112 discards the B frame in the video data to obtain the video data shown by 51.
  • the video data 51 includes only the I frame and the P frame.
  • Step S403 the image of each frame in the video data after discarding the preset type of image frame is divided into a plurality of slices by the processor.
  • the processor 112 may divide each frame image in the video data 51 and divide each frame image into a plurality of slices 52. This embodiment does not limit the specific division manner of each frame image.
  • Step S404 encoding, by the processor, the fragment obtained by dividing each frame image in the video data.
  • the processor 112 specifically encodes the slice 52 obtained by dividing each frame of the video data 51, and encodes each slice 52 to obtain the encoded slice 53.
  • Step S405 Send each encoded fragment to the remote control device through the communication interface.
  • the processor 112 can transmit each encoded fragment 53 to the remote control device 12 via the communication interface 113. Compared with the encoded one frame image, the encoded slice 53 has a smaller amount of data. When the bandwidth of the communication link from the unmanned aerial vehicle 11 to the remote control device 12 is not sufficiently high, the encoded slice 53 can be obtained from none. The human aircraft 11 is normally transmitted to the remote control device 12.
  • the remote control device 12 transmits each encoded slice 53 to the terminal device 13, and the terminal device 13 transmits each encoded slice 53 to the remote server 15 through the base station 14, and the remote device 16 is from the remote server. 15 acquiring each encoded slice 53 and decoding each encoded slice 53. Since each encoded slice 53 does not include a B frame, the remote device 16 is after the encoding. When the video data is decoded, the current frame can be decoded without referring to the frame behind the current frame to obtain a complete image and displayed.
  • the video data does not pass through the buffer of the buffer; or sends the encoded video data to the remote control device through the communication interface.
  • the encoded video data was not buffered by the buffer.
  • the processor 112 acquires video data from the photographing device 111, and the video data does not pass through the buffer of the buffer before discarding the B frame in the video data; or, processing Before the device 112 transmits the encoded fragment 53 to the remote control device 12 via the communication interface 113, the encoded fragment 53 does not pass through the buffer buffer.
  • the processor 112 acquires video data from the photographing device 111 in real time, discards the B frame in the video data, and divides the video data after discarding the B frame into the fragment 52, and encodes each fragment 52 to obtain the encoded image.
  • the slice element 53 immediately transmits the encoded slice element 53 to the remote control device 12, avoiding the delay of increasing the live broadcast of the video due to buffering of the video data and/or buffering of the encoded slice.
  • the buffer is a buffer inside the processor 112.
  • the buffer is a buffer external to processor 112.
  • the video data before the video frame of the preset type in the video data is discarded, the video data does not pass through the buffer of the buffer; or the encoded video data is sent before the encoded video data is transmitted to the remote control device through the communication interface.
  • the buffer cache is not used to avoid the delay of the live broadcast of the video due to the buffering of the video data, thereby further shortening the delay of the live video broadcast.
  • Embodiments of the present invention provide a method for video transmission.
  • FIG. 6 is a flowchart of a method for video transmission according to another embodiment of the present invention.
  • the method for video transmission provided by the embodiment of the present invention is applied to an unmanned aerial vehicle. As shown in FIG. 6, the method in this embodiment may include:
  • Step S601 Acquire video data by a photographing device mounted on the UAV.
  • Step S601 is the same as step S201, and details are not described herein again.
  • Step S602 encoding the video data by a processor.
  • the processor 112 in the UAV 11 acquires the video data from the photographing device 111, the video data is directly encoded to obtain the encoded video data.
  • Step S603 Send the encoded video data to the remote control device through the communication interface.
  • the processor 112 transmits the encoded video data to the remote control device 12 via the communication interface 113 of the unmanned aerial vehicle 11.
  • the video data is not buffered by the buffer before the video data is encoded by the processor; or the encoded video is sent before the encoded video data is sent to the remote control device through the communication interface.
  • Data is not buffered by the cache. Specifically, after the processor 112 acquires the video data from the photographing device 111, the video data does not pass through the buffer of the buffer before encoding the video data, or the processor 112 inputs the video data. After line encoding, the video data is not buffered by the buffer until the encoded video data is transmitted to the remote control device 12 via the communication interface 113 of the UAV 11.
  • the buffer is a buffer internal to the processor 112. Or the buffer is a buffer external to the processor 112.
  • the video data captured by the photographing device is encoded by the unmanned aerial vehicle
  • the video data does not pass through the buffer of the buffer; or the encoded video data is sent before the unmanned aerial vehicle transmits the encoded video data to the remote control device. It does not pass the buffer buffer to avoid the delay of video live broadcast due to the unmanned aircraft buffering the video data.
  • FIG. 7 is a flowchart of a method for video transmission according to another embodiment of the present invention. As shown in FIG. 7, on the basis of the embodiment shown in FIG. 6, the method in this embodiment may include:
  • Step S701 Acquire video data by a photographing device mounted on the UAV.
  • Step S701 is consistent with step S201, and details are not described herein again.
  • Step S702 discarding, by the processor, a preset type of image frame in the video data.
  • the preset type of image frame includes at least one of a bidirectional predictive coding frame and a forward predictive coding frame.
  • Step S702 is consistent with step S202, and details are not described herein again.
  • Step S703 encoding, by the processor, the video data after discarding the preset type of image frame.
  • Step S703 is the same as step S203, and details are not described herein again.
  • Step S704 Send the encoded video data to the remote control device through the communication interface.
  • Step S704 is consistent with step S204, and details are not described herein again.
  • video data is acquired by a photographing device carried by an unmanned aerial vehicle, and a preset type of image frame in the video data is discarded, and video data after discarding a preset type of image frame is encoded, and the encoded image is encoded.
  • the video data is sent to the remote control device, and the image frame of the preset type is discarded, thereby reducing the calculation amount of the video coding, and reducing the transmission amount of the encoded video data, thereby saving the video coding time of the unmanned aerial vehicle, and
  • the transmission time of the encoded video data from the unmanned aerial vehicle to the remote control device is saved, and the time for the remote device to decode the video data is saved, and the decoding of the video data by the remote device is also reduced.
  • the complexity further reduces the delay of live video.
  • FIG. 8 is a flowchart of a method for video transmission according to another embodiment of the present invention.
  • the method for video transmission may further include: dividing, by the processor, each frame image in the video data into a plurality of slices. Taking FIG. 6 as an example, on the basis of the embodiment shown in FIG. 6, after step S601, the following steps may be further included:
  • Step S801 dividing, by the processor, each frame image in the video data into a plurality of slices.
  • reference numeral 91 denotes video data captured by the photographing device 111 acquired by the processor 112 in the UAV 11, and the video data includes a plurality of I frames, B frames, and P frames, and a schematic description is indicated herein.
  • the number of image frames in the video data is not limited, and the number of I frames, B frames, and P frames is not limited.
  • the processor 112 may divide each frame image in the video data 91 and divide each frame image into a plurality of slices 92. This embodiment does not limit the specific division manner of each frame image.
  • the video data 91 may also be video data after discarding a preset type of image frame, such as discarding video data after the B frame.
  • step S602 encodes the video data by using a processor, including:
  • Step S802 encoding, by the processor, a fragment obtained by dividing each frame image in the video data.
  • the processor 112 specifically encodes the slice 92 obtained by dividing each frame image in the video data 91, and encodes each slice 92 to obtain the encoded slice 93.
  • step S603 sends the encoded video data to the remote control device through the communication interface, including:
  • Step S803 sending each encoded fragment to the remote control device through the communication interface.
  • the processor 112 can transmit each encoded fragment 93 to the remote control device 12 via the communication interface 113.
  • the encoded slice 93 has a smaller amount of data than the encoded one frame image, and when the bandwidth of the communication link from the unmanned aerial vehicle 11 to the remote control device 12 is not sufficiently high, the encoded slice 93 can be never The human aircraft 11 is normally transmitted to the remote control device 12.
  • the image of each frame captured by the photographing device is performed by the processor of the unmanned aerial vehicle.
  • the processor of the UAV sends each encoded segment to the remote control device through the communication interface, and each encoded segment further passes through the remote control device, the terminal device, the base station,
  • the remote server reaches the remote device, and each coded chip needs to pass through multiple communication links from the unmanned aircraft to the remote device, when the bandwidth of some links or all links in multiple communication links is not high enough. Since the encoded data of the chip is smaller, the encoded chip can be normally transmitted from the UAV to the remote device, thereby avoiding the transmission delay caused by insufficient bandwidth.
  • Embodiments of the present invention provide a method for video transmission.
  • FIG. 10 is a flowchart of a method for video transmission according to an embodiment of the present invention.
  • the method for video transmission provided by the embodiment of the present invention is applied to a remote control device. As shown in FIG. 10, the method in this embodiment may include:
  • step S1001 the encoded video data sent by the UAV is received through the communication interface.
  • the execution body of the method of this embodiment may be a remote control device.
  • the remote control device 12 includes a communication interface 121, a processor 122, and a communication interface 123.
  • the processor 122 can be a general purpose or special purpose processor.
  • the processor 112 in the UAV 11 acquires the video data captured by the photographing device 111, and encodes the video data to obtain the encoded video data, and the processor 112 transmits the encoded video data to the remote control device 12 via the communication interface 113.
  • the communication interface 121 of the remote control device 12 receives the encoded video data transmitted by the communication interface 113 of the unmanned aerial vehicle 11.
  • Step S1002 The encoded video data is sent to the terminal device by the processor.
  • the communication interface 121 of the remote control device 12 transparently transmits the encoded video data to the processor 122.
  • the processor 122 transparently transmits the encoded video data to the terminal device 13. Specifically, the processor 122 controls the communication interface 123 to encode the encoded data.
  • the video data is transparently transmitted to the terminal device 13.
  • the remote control device 12 and the terminal device 13 may be connected by wire or wirelessly.
  • the remote control device 12 and the terminal device 13 perform wired communication
  • the remote control device 12 and the unmanned aerial vehicle 11 perform wireless communication
  • the communication interface 121 of the 12 is specifically a wireless communication interface
  • the communication interface 123 of the remote control device 12 is specifically a wired communication interface.
  • the video data after receiving the encoded video data sent by the UAV 11 through the communication interface 121, the video data does not pass through the buffer of the buffer; or Before the encoded video data is transmitted to the terminal device 13, the video data does not pass through the buffer of the buffer.
  • the buffer is a buffer internal to the processor 122; or the buffer is a buffer external to the processor 122.
  • the video data does not pass through the buffer of the buffer; or the encoded video data is sent to the terminal by the processor. Before the device, the video data does not pass through the buffer of the buffer, thereby avoiding the delay of the live video broadcast due to the buffering of the video data by the remote control device.
  • Embodiments of the present invention provide a method for video transmission.
  • FIG. 12 is a flowchart of a method for video transmission according to an embodiment of the present invention.
  • the method for the video transmission provided by the embodiment of the present invention is applied to the terminal device connected to the remote control device. As shown in FIG. 12, the method in this embodiment may include:
  • Step S1201 Receive encoded video data sent by the remote control device through a communication interface, where the encoded video data is obtained by encoding video data captured by a photographing device mounted on the unmanned aerial vehicle.
  • the execution body of the method of this embodiment may be a terminal device connected to the remote control device.
  • the terminal device 13 includes a communication interface 131, a processor 132, and a communication interface 133, and the processor 132 may be a general purpose or special purpose processor.
  • the processor 112 in the UAV 11 acquires the video data captured by the photographing device 111, and encodes the video data captured by the photographing device 111 to obtain encoded video data, and the processor 112 in the UAV 11 passes through the communication interface 113.
  • the remote control device 12 transmits the encoded video data, and the communication interface 121 of the remote control device 12 receives the encoded video data sent by the unmanned aerial vehicle 11, and the remote control device 12 further transparently transmits the encoded video data to the terminal device 13, and the terminal device 13 passes through the communication interface.
  • 131 receives the encoded video data transmitted by the remote control device 12.
  • the encoded video data is not buffered by the buffer during transmission from the UAV 11 to the terminal device 13.
  • Step S1202 Decoding the encoded video data by a processor to obtain the video data.
  • the terminal device 13 After the terminal device 13 receives the encoded video data sent by the remote control device 12 through the communication interface 131, the terminal device 13 decodes the encoded video data by the processor 132 to obtain decoded video data, and the processor 132 decodes the encoded video data.
  • the frame type in the decoded video data is further determined.
  • the frame types in the decoded video data include: an I frame, a P frame, and a B frame.
  • Step S1203 Discard the preset type of image frame in the video data by using a processor.
  • the preset type of image frame includes at least one of a bidirectional predictive coding frame and a forward predictive coding frame.
  • the terminal device 13 discards the preset type of image frame in the video data by the processor 132, for example, discards the B frame, and the specific process is consistent with the process of the processor 112 discarding the preset type of image frame, for example, the B frame. Let me repeat.
  • Step S1204 The video data after discarding the preset type of image frame is encoded by the processor.
  • the terminal device 13 encodes the video data after the B frame is discarded in the foregoing step by the processor 132. It can be understood that the terminal device 13 encodes the video data after the B frame is discarded into the video data of multiple formats by the processor 132. The processor 132 encodes the video data after the B frame is discarded into the video data in the RTMP format.
  • Step S1205 The encoded video data is sent to the streaming server by the processor.
  • the terminal device 13 transmits the encoded video data, such as video data in the RTMP format, to the base station 14 through the processor 132.
  • the base station 14 transparently transmits the encoded video data to the streaming media server 17.
  • the processor 132 controls the communication interface 133.
  • the encoded video data is transmitted to the base station 14.
  • the terminal device 13 may be a mobile terminal, such as a smart phone.
  • the smart phone is installed with an application program, and the application program has a user interface, and the user can control the smart phone in real time by operating the user interface.
  • the encoded video data is transmitted to the base station.
  • the method further includes: discarding, by the processor, each of the video data after the preset type of image frame is discarded.
  • the frame image is divided into a plurality of slices; correspondingly, the encoding, by the processor, the video data after discarding the preset type of the image frame by the processor includes: dividing, by the processor, the image of each frame in the video data Chips are encoded; steps S1205, by the processor, sending the encoded video data to the streaming server, includes: sending, by the processor, each encoded fragment to the streaming server.
  • the processor 132 discards the B frame, divides each frame image of the video data after the B frame is discarded into a plurality of slices, and encodes the fragmented image of each frame into a specific principle and implementation manner.
  • the embodiment shown in FIG. 4 is similar and will not be described again here.
  • the terminal device 13 transmits each encoded fragment to the base station 14 through the processor 132.
  • the base station 14 transparently transmits each encoded fragment to the streaming server 17.
  • the processor 132 controls the communication interface 133 to the base station 14. Send each encoded fragment.
  • the encoded video data does not pass through the buffer of the buffer prior to decoding the encoded video data by the processor 132; or prior to transmitting the encoded video data to the streaming server 17 by the processor 132,
  • the encoded video data is not buffered by the buffer.
  • the buffer is a buffer internal to processor 132.
  • the buffer is a buffer external to the processor 132.
  • the terminal device receives the encoded video data sent by the remote control device, decodes the encoded video data, discards the preset type of image frame, and encodes the video data after discarding the preset type of image frame, and encodes the encoded video data.
  • the video data is sent to the streaming media server, and the video frame of the preset type is discarded, thereby reducing the amount of video encoding, and reducing the transmission amount of the encoded video data, thereby saving the video encoding time of the terminal device, and
  • the transmission time of the encoded video data from the terminal device to the streaming media server is saved, and the time for the remote device to decode the video data is saved, and the complexity of decoding the video data by the remote device is reduced, thereby shortening the live video.
  • the terminal device before decoding the encoded video data, does not pass the buffer of the buffer; or the terminal device does not pass the encoded video data before transmitting the encoded video data to the streaming server.
  • the buffer cache avoids the delay of video live broadcast due to the buffering of the video data by the terminal device, thereby further shortening the delay of the live video broadcast.
  • Embodiments of the present invention provide a method for video transmission.
  • FIG. 14 is a flowchart of a method for video transmission according to an embodiment of the present invention.
  • the method for the video transmission provided by the embodiment of the present invention is applied to the terminal device connected to the remote control device. As shown in FIG. 14 , the method in this embodiment may include:
  • Step S1401 Receive encoded video data sent by the remote control device through a communication interface, where the encoded video data is obtained by encoding video data captured by a shooting device mounted on the UAV.
  • the execution body of the method of this embodiment may be a terminal device connected to the remote control device.
  • the terminal device 13 includes a communication interface 131, a processor 132, and a communication interface 133, and the processor 132 may be a general purpose or special purpose processor.
  • the processor 112 in the UAV 11 acquires the video data captured by the photographing device 111, and encodes the video data captured by the photographing device 111 to obtain encoded video data, and the processor 112 in the UAV 11 passes through the communication interface 113.
  • the remote control device 12 transmits the encoded video data, and the communication interface 121 of the remote control device 12 receives the encoded video data sent by the unmanned aerial vehicle 11, and the remote control device 12 further transparently transmits the encoded video data to the terminal device 13, and the terminal device 13 passes through the communication interface.
  • 131 receives the encoded video data transmitted by the remote control device 12.
  • the encoded video data is not buffered by the buffer during transmission from the UAV 11 to the terminal device 13.
  • Step S1402 Decoding the encoded video data by a processor to obtain the video data.
  • the terminal device 13 After the terminal device 13 receives the encoded video data sent by the remote control device 12 through the communication interface 131, the terminal device 13 decodes the encoded video data by the processor 132 to obtain decoded video data.
  • Step S1403 Encode the video data by a processor.
  • the terminal device 13 encodes the video data obtained by the above step decoding by the processor 132. It can be understood that the terminal device 13 encodes the video data decoded by the above step into video data of multiple formats by the processor 132, optionally, processing.
  • the unit 132 encodes the video data into video data in an RTMP format.
  • Step S1404 The encoded video data is sent to the streaming server by the processor.
  • the terminal device 13 transmits the encoded video data, such as video data in the RTMP format, to the base station 14 through the processor 132.
  • the base station 14 transparently transmits the encoded video data to the streaming media server 17.
  • the processor 132 controls the communication interface 133.
  • the encoded video data is transmitted to the base station 14.
  • the terminal device 13 and the base station 14 can communicate through various network protocols.
  • the preset network protocol can be one or more of a variety of network protocols.
  • the terminal device 13 communicates with the base station 14 according to a preset network protocol to ensure the accuracy of the encoded video data transmission.
  • the preset network protocol includes an RTMP network protocol.
  • the RTMP network protocol is a real-time message transmission protocol.
  • the video data transmission using the RTMP network protocol can transmit the video to the streaming server 17 in real time, and the remote device 16 can also acquire the video data in real time.
  • the encoded video data does not pass through a buffer of the buffer; or before the encoded video data is transmitted to the streaming server 17 by the processor 132, The encoded video data is not buffered by the buffer.
  • the buffer is a buffer inside the processor 132.
  • the buffer is a buffer external to processor 132.
  • the method further includes: discarding, by the processor, an image frame of a preset type in the video data; the video data is video data obtained by decoding the encoded video data by a processor in step S1402. .
  • the step S1403, by the processor, encoding the video data comprises: encoding, by the processor, the video data after discarding the preset type of image frame.
  • the preset type of image frame includes at least one of a bidirectional predictive coding frame and a forward predictive coding frame.
  • the video data obtained by the terminal device 13 by decoding the encoded video data by the processor 132 includes an I frame, a P frame, and a B frame, and the processor 132 discards the B frame in the decoded video data, and discards the B frame.
  • the specific principles and implementations of the video data encoding are similar to the embodiment shown in FIG. 2, and details are not described herein again.
  • the method further includes: dividing, by the processor, each frame image in the video data into a plurality of tiles; the video data is the encoded video by the processor in step S1402.
  • the step S1403, by the processor, encoding the video data comprises: encoding, by the processor, a fragment obtained by dividing each frame image in the video data; and sending the encoding to the streaming server by using the processor.
  • the video data includes: sending each encoded fragment to the streaming server through the processor.
  • the processor 132 divides the image of each frame in the video data into a plurality of slices, and the specific principles and implementations of encoding the divided segments are similar to the embodiment shown in FIG. 4, and details are not described herein again.
  • the terminal device 13 transmits each to the base station 14 through the processor 132. After the encoded fragment, the base station 14 transparently transmits each encoded fragment to the streaming server 17. Specifically, the processor 132 controls the communication interface 133 to send each encoded fragment to the base station 14.
  • the encoded video data sent by the remote control device before the encoded video data sent by the remote control device is decoded by the terminal device, the encoded video data does not pass through the buffer of the buffer; or the terminal device sends the encoded video data of the terminal device to the streaming media server before encoding.
  • the video data is not buffered by the buffer, which avoids the delay of the live video broadcast due to the buffering of the video data by the terminal device, and shortens the delay of the live video broadcast.
  • the encoded video data sent by the remote control device is received by the terminal device, the encoded video data is decoded, and the preset type of image frame in the decoded video data is discarded, and the image frame of the preset type is discarded.
  • the video data is encoded, and the encoded video data is sent to the streaming media server, and the image frame of the preset type is discarded, thereby reducing the computation amount of the video encoding and reducing the transmission amount of the encoded video data.
  • the video encoding time of the terminal device is saved, and the transmission time of the encoded video data from the terminal device to the streaming media server is saved, and the time for the remote device to decode the video data is saved, and the remote device decodes the video.
  • the complexity of the data further reduces the delay of live video.
  • Embodiments of the present invention provide a method for video transmission.
  • FIG. 15 is a flowchart of a method for video transmission according to an embodiment of the present invention.
  • the method for video transmission provided by the embodiment of the present invention is applied to a streaming media server.
  • the method in this embodiment may include:
  • Step S1501 Receive encoded video data sent by the terminal device through a communication interface, where the encoded video data is obtained by encoding video data captured by a photographing device mounted on the unmanned aerial vehicle.
  • the execution body of the method of this embodiment may be a streaming media server.
  • the streaming server 17 includes a communication interface 171, a processor 172, and a communication interface 173, and the processor 172 can be a general purpose or special purpose processor.
  • the processor 112 in the UAV 11 acquires the video data captured by the photographing device 111, and encodes the video data captured by the photographing device 111 to obtain encoded video data, and the processor 112 in the UAV 11 passes through the communication interface 113.
  • the remote control device 12 transmits the encoded video data, and the communication interface 121 of the remote control device 12 receives the encoded video data sent by the unmanned aerial vehicle 11, and the remote control device 12 enters a
  • the encoded video data is transparently transmitted to the terminal device 13, and the terminal device 13 receives the encoded video data sent by the remote control device 12 through the communication interface 131.
  • the terminal device 13 further transparently transmits the encoded video data to the streaming server 17 via the base station 14, and the streaming server 17 receives the encoded video data forwarded by the base station 14 via the communication interface 171.
  • the encoded video data is not buffered by the buffer during transmission from the UAV 11 to the streaming server 17.
  • the base station 14 and the streaming server 17 can communicate via a variety of network protocols.
  • the preset network protocol can be one or more of a variety of network protocols.
  • the base station 14 communicates with the streaming server 17 in accordance with a predetermined network protocol to ensure the accuracy of video data transmission.
  • the preset network protocol includes an RTMP network protocol.
  • the RTMP network protocol is a real-time message transmission protocol.
  • the video data transmission using the RTMP network protocol can transmit the video to the streaming server 17 in real time, and the remote device 16 can also acquire the video data in real time.
  • the encoded video data forwarded by the base station 14 received by the streaming server 17 via the communication interface 171 may specifically be video data in the RTMP format.
  • Step S1502 Decoding the encoded video data by a processor to obtain the video data.
  • the streaming server 17 After the streaming server 17 receives the encoded video data forwarded by the base station 14 through the communication interface 171, the streaming server 17 decodes the encoded video data by the processor 172 to obtain decoded video data, and the processor 172 decodes the encoded video data.
  • the frame type in the decoded video data is further determined.
  • the frame types in the decoded video data include: an I frame, a P frame, and a B frame.
  • Step S1503 Discard the preset type of image frame in the video data by using a processor.
  • the preset type of image frame includes at least one of a bidirectional predictive coding frame and a forward predictive coding frame.
  • the streaming media server 17 discards the preset type of image frames in the video data by the processor 172, for example, discarding the B frames, the specific process of which is consistent with the process of the processor 112 discarding the preset type of image frames, such as B frames. I won't go into details here.
  • Step S1504 The video data after discarding the preset type of image frame is encoded by the processor.
  • the streaming media server 17 encodes the video data after the B frame is discarded in the foregoing step by the processor 172. It can be understood that the streaming media server 17 encodes the video data after the B frame is discarded into the video data of multiple formats by the processor 172.
  • the format of the video data encoded by the processor 172 may be determined by the type of the remote device 16. It may be understood that the remote device 16 may include multiple devices, such as devices of the IOS system, devices of the Android system, etc., devices of the IOS system, and Android devices can support different formats of video data. iOS devices such as Apple phones and Apple computers support HLS format video data. Android devices such as Android phones, Windows systems, etc. support RTMP.
  • the streaming media server 17 may encode the video data after the B frame is discarded by the processor 172 into the video data of the HLS format. .
  • Step S1505 The encoded video data is sent to the remote device by the processor.
  • the streaming media server 17 sends the encoded video data, such as video data in the HLS format, to the remote device 16 through the processor 172, and specifically includes the following feasible implementation manners:
  • the processor 172 controls the communication interface 173 to transmit the encoded video data, such as the video acquisition address in the HLS format, to the remote device 16.
  • Another possible implementation manner is: after the processor 172 encodes the video data of the discarded B frame, the processor 172 controls the communication interface 173 to send the video acquisition address corresponding to the encoded video data to the server 18, for example, the video acquisition in the HLS format.
  • the address is sent by the server 18 to the remote device 16 in the HLS format.
  • the device of the remote device 16 for example, the IOS system, obtains the video data in the HLS format from the streaming server 17 according to the video acquisition address of the HLS format.
  • the video acquisition address includes one or more formats
  • the remote device 16 obtains the encoded video data from the streaming server 17 according to the video acquisition address, including: the remote device 16 according to a format.
  • the video acquisition address or one of a plurality of formats of video acquisition addresses acquires the encoded video data from the streaming server 17.
  • the remote device 16 may include multiple devices, such as devices of the IOS system, devices of the Android system, etc., and thus the format of the video acquisition address between the remote device 16 and the streaming media server 17 is also various.
  • the streaming media server 17 sends the video acquisition addresses in multiple formats, so that the selection freedom of the remote device 16 is greater, that is, various types of far-reaching
  • Each of the end devices 16 can acquire video data according to a video acquisition address of a corresponding format.
  • the format of the video acquisition address includes three formats: HLS, RTMP, and M3U8.
  • the video acquisition address in the HLS format is applicable to devices of the IOS system, such as an Apple mobile phone, an Apple computer, and the like.
  • RTMP and M3U8 format video capture addresses are available for non-IOS devices, such as Android phones, Windows computers, and more.
  • the preset network protocol is one or more of a variety of network protocols.
  • the preset network protocol includes a Websocket network protocol.
  • the remote device 16 sends an instruction for acquiring video data to the server 18 through the Websocket network protocol, and the server 18 feeds back the video acquisition address to the remote device 16 according to the instruction for acquiring the video data, and the remote device 16 obtains the address from the streaming media server according to the video.
  • the encoded video data is obtained in 17.
  • the method further includes: discarding, by the processor, the video data after the preset type of image frame is discarded Each frame of the image is divided into a plurality of slices; correspondingly, the step S1504, by the processor, encoding the video data after discarding the preset type of image frame comprises: using the processor to image each frame of the video data And dividing the obtained fragment into encoding; and sending, by the processor, the encoded video data to the remote device by using the processor includes: sending, by the processor, each encoded fragment to the remote device.
  • the processor 172 discards the B frame, divides each frame image of the video data after the B frame is discarded into a plurality of slices, and encodes the fragment obtained by dividing each frame image into a specific principle and implementation manner.
  • the embodiment shown in FIG. 4 is similar and will not be described again here.
  • the streaming server 17 transmits each encoded fragment to the remote device 16 via the processor 172.
  • the processor 172 controls the communication interface 173 to transmit each encoded fragment to the remote device 16.
  • the encoded video data does not pass through the buffer of the buffer prior to decoding the encoded video data by the processor 172; or prior to transmitting the encoded video data to the remote device 16 by the processor 172,
  • the encoded video data is not buffered by the buffer.
  • the buffer is a buffer inside the processor 172.
  • the buffer is a buffer external to processor 172.
  • the encoded video data sent by the terminal device is received by the streaming media server, and the encoded video data is decoded, and the preset type of image frame is discarded, and the preset type of image is discarded.
  • the quantity saves the video encoding time of the streaming media server, saves the transmission time of the encoded video data from the streaming media server to the remote device, and saves the time for the remote device to decode the video data, and reduces the time.
  • the complexity of the video data decoded by the remote device shortens the delay of live video.
  • the encoded video data does not pass through the buffer of the buffer; or the streaming media server sends the encoded video data to the remote device before the encoded video data.
  • the buffer cache is not used to avoid the delay of the live video broadcast due to the buffering of the video data by the streaming media server, thereby further shortening the delay of the live video broadcast.
  • Embodiments of the present invention provide a method for video transmission.
  • FIG. 17 is a flowchart of a method for video transmission according to an embodiment of the present invention.
  • the method for video transmission provided by the embodiment of the present invention is applied to a streaming media server. As shown in FIG. 17, the method in this embodiment may include:
  • Step S1701 Receive encoded video data sent by the terminal device through a communication interface, where the encoded video data is obtained by encoding video data captured by a photographing device mounted on the UAV.
  • the execution body of the method of this embodiment may be a streaming media server.
  • the streaming server 17 includes a communication interface 171, a processor 172, and a communication interface 173, and the processor 172 can be a general purpose or special purpose processor.
  • the processor 112 in the UAV 11 acquires the video data captured by the photographing device 111, and encodes the video data captured by the photographing device 111 to obtain encoded video data, and the processor 112 in the UAV 11 passes through the communication interface 113.
  • the remote control device 12 transmits the encoded video data, and the communication interface 121 of the remote control device 12 receives the encoded video data sent by the unmanned aerial vehicle 11, and the remote control device 12 further transparently transmits the encoded video data to the terminal device 13, and the terminal device 13 passes through the communication interface.
  • the terminal device 13 further transparently transmits the encoded video data to the streaming server 17 via the base station 14, and the streaming server 17 receives the encoded video data forwarded by the base station 14 via the communication interface 171.
  • the encoded video data is transmitted from the UAV 11 to the streaming server 17
  • the buffer is not buffered during the process.
  • the encoded video data forwarded by the base station 14 received by the streaming server 17 via the communication interface 171 may specifically be video data in the RTMP format.
  • Step S1702 Decoding the encoded video data by a processor to obtain the video data.
  • the remote device 16 may include multiple devices, such as devices of the IOS system, devices of the Android system, etc., the formats of the video data supported by the devices of the IOS system and the devices of the Android system are different, and the devices of the IOS system such as the Apple mobile phone. , Apple computers and other video data supporting HLS format, Android devices such as mobile phones using Android, computers using Windows systems, etc. support RTMP and M3U8 format video data.
  • the streaming media server 17 needs to convert the RTMP format video data into the HLS format video data. Specifically, the streaming server 17 receives the communication interface 171. After the video data of the RTMP format forwarded by the base station 14, the streaming server 17 decodes the video data of the RTMP format by the processor 172 to obtain the decoded video data.
  • Step S1703 encoding the video data by a processor.
  • the streaming server 17 encodes the decoded video data by the processor 172, for example, encoded into video data in the HLS format.
  • Step S1704 The encoded video data is sent to the remote device by the processor.
  • the streaming media server 17 transmits the encoded video data, such as HLS format video data, to the remote device 16 via the processor 172.
  • the processor 172 controls the communication interface 173 to transmit the encoded video data, such as the HLS format, to the remote device 16.
  • Video data such as the HLS format
  • the encoded video data does not pass through a buffer of the buffer; or before the encoded video data is transmitted by the processor 172 to the remote device 16, the The encoded video data is not buffered by the buffer.
  • the buffer is a buffer inside the processor 172.
  • the buffer is a buffer external to processor 172.
  • the method further includes: discarding, by the processor, a preset type of image frame in the video data; the video data is obtained by decoding, by the processor, the encoded video data in step S1702. Video data.
  • step S1703 is processed.
  • the encoding the video data includes: encoding, by the processor, the video data after discarding the preset type of image frame.
  • the preset type of image frame includes at least one of a bidirectional predictive coding frame and a forward predictive coding frame.
  • the video data obtained by the streaming media server 17 by decoding the encoded video data by the processor 172 includes an I frame, a P frame, and a B frame, and the processor 172 discards the B frame in the video data, and discards the video after the B frame.
  • the specific principles and implementations of the data encoding are similar to the embodiment shown in FIG. 2, and details are not described herein again.
  • the method further includes: dividing, by the processor, each frame image in the video data into a plurality of tiles; the video data is the encoded video by the processor in step S1702 The video data obtained by decoding the data.
  • the video data includes: transmitting, by the processor, each encoded fragment to a remote device.
  • the processor 172 divides each frame of the video data into a plurality of slices, and the specific principles and implementations of encoding the divided segments are similar to the embodiment shown in FIG. 4, and details are not described herein again.
  • the streaming server 17 transmits each encoded fragment to the remote device 16 via the processor 172. Specifically, the processor 172 controls the communication interface 173 to transmit each encoded fragment to the remote device 16.
  • the encoded video data sent by the terminal device before the encoded video data sent by the terminal device is decoded by the streaming media server, the encoded video data does not pass through the buffer of the buffer; or the streaming media server sends the video data encoded by the streaming media server before sending the streaming video server to the remote device.
  • the encoded video data is not buffered by the buffer, which avoids the delay of the live video broadcast due to the buffering of the video data by the streaming media server, and shortens the delay of the live video broadcast.
  • the encoded video data sent by the terminal device is received by the streaming media server, the encoded video data is decoded, and the preset type of image frame in the decoded video data is discarded, and after the preset type of image frame is discarded,
  • the video data is encoded, and the encoded video data is sent to the remote device, and the image frame of the preset type is discarded, thereby reducing the computation amount of the video encoding, and reducing the transmission amount of the encoded video data. It not only saves the video encoding time of the streaming media server, but also saves the transmission time of the encoded video data from the streaming media server to the remote device, and also saves the time for the remote device to decode the video data and reduces the far end.
  • the complexity of decoding video data by the device further shortens the delay of live video.
  • Embodiments of the present invention provide a method for video transmission.
  • FIG. 18 is a flowchart of a method for video transmission according to an embodiment of the present invention.
  • the method for the video transmission provided by the embodiment of the present invention is applied to the terminal device connected to the remote control device. As shown in FIG. 18, the method in this embodiment may include:
  • Step S1801 Receive encoded video data sent by the remote control device through a communication interface, where the encoded video data is obtained by encoding video data captured by a photographing device mounted on the UAV.
  • the terminal device 13 receives the encoded video data sent by the remote control device 12 through the communication interface 131.
  • the encoded video data may be specifically encoded by the processor 112 in the UAV 11 to capture the video data captured by the imaging device 111.
  • the obtained video data may also be that after the processor 112 in the UAV 11 discards the preset type of image frame in the video data captured by the photographing device 111, the video data after discarding the preset type of image frame is encoded.
  • the obtained video data is transmitted to the terminal device 13 via the remote control device 12.
  • Step S1802 The encoded video data is sent to the streaming media server by the processor.
  • the communication interface 131 of the terminal device 13 transparently transmits the encoded video data to the processor 132, and the processor 132 transparently transmits the encoded video data to the base station 14.
  • the processor 132 controls the communication interface.
  • 133 transparently transmitting the encoded video data to the base station 14, and the base station 14 transparently transmits the encoded video data to the streaming server 17.
  • the encoded video data does not pass through the buffer of the buffer; or before the encoded video data is transmitted to the streaming server 17 by the processor 172, The encoded video data does not pass through the buffer of the buffer.
  • the buffer is a buffer internal to processor 132; alternatively, the buffer is a buffer external to processor 132.
  • the encoded video data does not pass through the buffer of the buffer; or before the encoded video data is sent to the streaming media server by the processor, The encoded video data does not pass through the buffer of the buffer, thereby avoiding increasing the delay of the live video broadcast due to the buffering of the encoded video data by the terminal device.
  • Embodiments of the present invention provide a method for video transmission.
  • FIG. 19 is a flowchart of a method for video transmission according to an embodiment of the present invention.
  • the method for video transmission provided by the embodiment of the present invention is applied to a streaming media server. As shown in FIG. 19, the method in this embodiment may include:
  • Step S1901 Receive encoded video data sent by the terminal device through a communication interface, where the encoded video data is obtained by encoding video data captured by a photographing device mounted on the UAV.
  • the streaming media server 17 receives the encoded video data forwarded by the base station 14 through the communication interface 171.
  • the encoded video data may be specifically encoded by the processor 112 in the UAV 11 to capture the video data captured by the capturing device 111.
  • the obtained video data may also be that after the processor 112 in the UAV 11 discards the preset type of image frame in the video data captured by the photographing device 111, the video data after discarding the preset type of image frame is encoded.
  • the obtained video data is transmitted to the streaming server 17 through the transparent transmission of the remote control device 12, the terminal device 13, and the base station 14 in sequence.
  • the encoded video data may be specifically decoded by the terminal device 13 to encode the video data obtained by the processor 112, discarded by the preset type of image frame in the decoded video data, and discarded by the preset type.
  • the video data obtained by encoding the video data after the image frame may be, for example, the video data encoded by the terminal device 13 may be video data of the RTMP format.
  • the encoded video data is transmitted to the streaming server 17 via the transparent transmission by the base station 14 in sequence.
  • the encoded video data may also be video data obtained by decoding and re-encoding the video data obtained by the terminal device 13 after being encoded by the processor 112.
  • the video encoded by the terminal device 13 is obtained.
  • the data may specifically be video data in RTMP format.
  • the encoded video data is transmitted to the streaming server 17 via the transparent transmission by the base station 14 in sequence.
  • the remote device 16 may include multiple devices, such as devices of the IOS system, devices of the Android system, etc., the formats of the video data supported by the devices of the IOS system and the devices of the Android system are different, and the devices of the IOS system such as the Apple mobile phone. , Apple computers and other video data supporting HLS format, Android devices such as mobile phones using Android, computers using Windows systems, etc. support RTMP and M3U8 format video data.
  • Step S1902 The encoded video data is sent to the remote device by the processor.
  • the remote device 16 is specifically a device of the Android system, such as a mobile phone using an Android system or a computer using a Windows system. Since the Android system device supports the RTMP and M3U8 format video data, such as the mobile phone using the Android system and the computer using the Windows system, the streaming media server 17 does not need to perform format conversion on the RTMP format video data, and can pass the communication interface 173. The video data of the RTMP format is transparently transmitted to the remote device 16.
  • the streaming media server 17 and the remote device 16 may be connected by wire or wirelessly.
  • the streaming media server 17 and the remote device 16 perform wired communication
  • the communication interface 173 is specifically a wired communication interface.
  • the streaming server 17 and the remote device 16 perform wireless communication
  • the communication interface 173 is specifically a wireless communication interface.
  • the encoded video data after receiving the encoded video data sent by the terminal device 13 through the communication interface 171, the encoded video data does not pass through the buffer of the buffer; or before the encoded video data is transmitted to the remote device 16 by the processor 172, the encoded video data does not pass through the buffer of the buffer.
  • the buffer is a buffer internal to the processor 172; or the buffer is a buffer external to the processor 172.
  • the encoded video data sent by the terminal device is received by the streaming media server through the communication interface, the encoded video data does not pass through the buffer of the buffer; or before the encoded video data is sent to the remote device by the processor.
  • the encoded video data does not pass through the buffer of the buffer, thereby avoiding increasing the delay of the live video broadcast due to the buffering of the encoded video data by the streaming media server.
  • Embodiments of the present invention provide an unmanned aerial vehicle.
  • 20 is a structural diagram of an unmanned aerial vehicle according to an embodiment of the present invention.
  • the unmanned aerial vehicle 200 includes a fuselage, a power system, and a processor 208, and the power system includes at least one of the following: a motor 207. a propeller 206 and an electronic governor 209, the power system being mounted to the fuselage for providing flight power; the processor 208 may specifically be a flight controller or a general purpose or special purpose processor.
  • a flight controller is in communication with the power system for controlling the UAV flight.
  • the unmanned aerial vehicle 200 further includes: a communication interface 205, a supporting device 202, and a photographing device 204.
  • the supporting device 202 may specifically be a pan/tilt, and the photographing device 204 is configured to acquire video data; Used to discard preset types in the video data Image frame; and encoding the video data after discarding the preset type of image frame; the communication interface 205 is configured to send the encoded video data to the remote control device.
  • the preset type of image frame includes at least one of a bidirectional predictive coding frame and a forward predictive coding frame.
  • the method further includes: dividing each frame image of the video data after discarding the preset type of image frame into a plurality of chips; and the processor 208
  • the method is specifically configured to: encode the fragment obtained by dividing each frame of the video data; and the communication interface 205 sends the encoded to the remote control device.
  • the video data is used, it is specifically used to: send each encoded fragment to the remote control device.
  • the video data does not pass through a buffer of the buffer; or the encoded interface sends the encoded to the remote control device.
  • the encoded video data is not buffered by the buffer.
  • the buffer is a buffer internal to the processor. Or the buffer is a buffer external to the processor.
  • FIG. 20 is a structural diagram of an unmanned aerial vehicle according to an embodiment of the present invention.
  • the unmanned aerial vehicle 200 includes: a photographing device 204, a processor 208, and a communication interface 205.
  • the photographing device 204 is configured to acquire video data;
  • the device 208 is configured to encode the video data;
  • the communication interface 205 is configured to send the encoded video data to the remote control device; wherein the video data is not buffered before the processor encodes the video data.
  • the buffer of the device; or the encoded video data is not buffered by the buffer before the communication interface sends the encoded video data to the remote control device.
  • the buffer is a buffer inside the processor.
  • the buffer is a buffer external to the processor.
  • the processor 208 is further configured to: discard a preset type of image frame in the video data; when the processor 208 encodes the video data, specifically, the method is: discarding a preset type of image The video data after the frame is encoded.
  • the preset type of image frame is at least One of a bidirectional predictive coding frame and a forward predictive coding frame is included.
  • the processor 208 is further configured to: divide each frame image in the video data into a plurality of slices; when the processor 208 encodes the video data, specifically, the method is: The picture element obtained by dividing each frame of the video data is encoded; when the communication interface 205 sends the encoded video data to the remote control device, it is specifically used to: send each coded chip element to the remote control device.
  • the remote control device 120 includes a communication interface 121 and a processor 122.
  • the communication interface 121 is configured to receive encoded video data sent by the UAV; and the processor 122 is configured to send the encoded video data.
  • the terminal device wherein, after the communication interface 121 receives the encoded video data sent by the UAV, the video data does not pass through the buffer of the buffer; or the processor 122 sends the encoded video data to the terminal device before The video data does not pass through the buffer of the buffer.
  • the buffer is a buffer internal to the processor; or the buffer is a buffer external to the processor.
  • the embodiment of the invention provides a terminal device.
  • the terminal device 13 includes: a communication interface 131 and a processor 132.
  • the communication interface 131 is configured to receive encoded video data sent by the remote control device, where the encoded video data is a video taken by a shooting device mounted on the unmanned aerial vehicle.
  • the data is encoded.
  • the processor 132 is configured to: decode the encoded video data to obtain the video data; discard the preset type of image frame in the video data; and discard the preset type of image frame after discarding
  • the video data is encoded; the encoded video data is sent to the streaming server.
  • the preset type of image frame includes at least one of a bidirectional predictive coding frame and a forward predictive coding frame.
  • the processor 132 After the processor 132 discards the preset type of image frame in the video data, it is further used to: Decomposing each frame image of the video data after the preset type of image frame is divided into a plurality of slices; and when the processor 132 encodes the video data after discarding the preset type of image frame, the specific use is: The fragment obtained by dividing each frame of the video data is encoded.
  • the processor 132 sends the encoded video data to the streaming server, the processor 132 is specifically configured to: send each encoded fragment to the streaming server.
  • the encoded video data does not pass through a buffer of the buffer; or before the processor sends the encoded video data to the streaming media server, The encoded video data is not buffered by the buffer.
  • the buffer is a buffer internal to the processor.
  • the buffer is a buffer external to the processor.
  • the terminal device 13 includes: a communication interface 131 and a processor 132.
  • the communication interface 131 is configured to receive encoded video data sent by the remote control device, where the encoded video data is a video taken by a shooting device mounted on the unmanned aerial vehicle.
  • the data is encoded;
  • the processor 132 is configured to: decode the encoded video data to obtain the video data; encode the video data; and send the encoded video data to a streaming media server;
  • the encoded video data is not buffered by the buffer before the encoded video data is decoded; or the encoded video data is before the processor 132 sends the encoded video data to the streaming server.
  • the buffer is a buffer inside the processor.
  • the buffer is a buffer external to the processor.
  • the processor 132 is further configured to: discard a preset type of image frame in the video data; when the processor 132 encodes the video data, specifically, the method is: discarding a preset type of image The video data after the frame is encoded.
  • the preset type of image frame includes at least one of a bidirectional predictive coding frame and a forward predictive coding frame.
  • the processor 132 is further configured to: divide each frame image in the video data into a plurality of slices; when the processor 132 encodes the video data, specifically, the method is: The fragment obtained by dividing each frame of the video data is encoded; the processor 132 flows to the stream When the media server sends the encoded video data, it is specifically used to: send each encoded fragment to the streaming server.
  • the streaming server 17 includes a communication interface 171 and a processor 172.
  • the communication interface 171 is configured to receive encoded video data sent by the terminal device, where the encoded video data is captured by a camera mounted on the unmanned aerial vehicle.
  • the video data is encoded;
  • the processor 172 is configured to: decode the encoded video data to obtain the video data; discard the preset type of image frame in the video data; and discard the preset type of image frame after discarding
  • the video data is encoded; the encoded video data is sent to the remote device.
  • the preset type of image frame includes at least one of a bidirectional predictive coding frame and a forward predictive coding frame.
  • the method further includes: dividing each frame image of the video data after discarding the preset type of image frame into a plurality of chips;
  • the method is specifically configured to: encode the fragment obtained by dividing each frame of the video data; and the processor 172 sends the encoded video to the remote device.
  • the data is used, it is specifically used to: send each encoded fragment to the remote device.
  • the encoded video data does not pass through the buffer before the processor decodes the encoded video data; or before the processor transmits the encoded video data to the remote device.
  • the encoded video data is not buffered by the buffer.
  • the buffer is a buffer internal to the processor.
  • the buffer is a buffer external to the processor.
  • the streaming server 17 includes a communication interface 171 and a processor 172.
  • the communication interface 171 is configured to receive encoded video data sent by the terminal device, where the encoded video data is a shooting device mounted on the unmanned aerial vehicle.
  • the captured video data is encoded;
  • the processor 172 is configured to: decode the encoded video data to obtain the video data; encode the video data; and send the encoded video data to a remote device; Before the processor decodes the encoded video data, the encoded video data does not pass through a buffer of the buffer; or after the processor sends the encoded video data to the remote device, after the encoding
  • the video data is not buffered by the buffer.
  • the buffer is a buffer inside the processor.
  • the buffer is a buffer external to the processor.
  • the processor 172 is further configured to: discard the preset type of image frame in the video data; when the processor 172 encodes the video data, specifically, the method is: discarding the preset type of image The video data after the frame is encoded.
  • the preset type of image frame includes at least one of a bidirectional predictive coding frame and a forward predictive coding frame.
  • the processor 172 is further configured to: divide each frame image in the video data into a plurality of tiles; when the processor 172 encodes the video data, specifically, to: The fragment obtained by dividing each frame of the video data is encoded.
  • the processor 172 sends the encoded video data to the remote device, the processor 172 is specifically configured to: send each encoded fragment to the remote device.
  • Embodiments of the present invention provide a video transmission system.
  • the video transmission system includes an unmanned aerial vehicle 11, a remote control device 12, a terminal device 13, and a streaming media server 17.
  • the specific principles and implementations of the unmanned aerial vehicle 11, the remote control device 12, the terminal device 13, and the streaming media server 17 are similar to the above embodiments, and are not described herein again.
  • the disclosed apparatus and method may be implemented in other manners.
  • the device embodiments described above are merely illustrative.
  • the division of the unit is only a logical function division.
  • there may be another division manner for example, multiple units or components may be combined or Can be integrated into another system, or some features can be ignored or not executed.
  • the mutual coupling or direct coupling or communication connection shown or discussed may be through some interfaces.
  • the indirect coupling or communication connection of the unit or unit may be electrical, mechanical or other form.
  • the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of the embodiment.
  • each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.
  • the above integrated unit can be implemented in the form of hardware or in the form of hardware plus software functional units.
  • the above-described integrated unit implemented in the form of a software functional unit can be stored in a computer readable storage medium.
  • the above software functional unit is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) or a processor to perform the methods of the various embodiments of the present invention. Part of the steps.
  • the foregoing storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk, and the like, which can store program codes. .

Abstract

Provided in an embodiment of the present invention are a video transmission method, device, and system, the method comprising: acquiring video data by means of a photographing device that is mounted on an unmanned aerial vehicle; discarding image frames of a preset type in the video data; coding the video data after the image frames of the preset type are discarded; and sending the coded video data to a remote control device. By means of discarding image frames of a preset type, the video coding computation load is reduced, while the amount of coded video data for transmission is reduced, which saves time in the unmanned aerial vehicle coding video, and also saves time in coded video data being transmitted from the unmanned aerial vehicle to the remote control device; in addition, time in the remote device decoding the video data is saved, and the complexity in the remote device decoding the video data is reduced, thereby shortening delays in video live broadcasting.

Description

视频传输的方法、设备及系统Video transmission method, device and system 技术领域Technical field
本发明实施例涉及视频传输领域，尤其涉及一种视频传输的方法、设备及系统。The embodiments of the present invention relate to the field of video transmission, and in particular, to a method, device, and system for video transmission.
背景技术Background technique
现有技术中无人飞行器搭载拍摄设备后可用于航拍，无人飞行器的通信系统可将拍摄设备拍摄的图像或视频发送给地面端，例如遥控器，遥控器可进一步将图像或视频发送给用户设备，例如手机、平板电脑、计算机等。用户设备连网后，还可以将图像或视频发送给网络侧的服务器，例如云服务器、服务器集群等，远端用户的播放器可以访问该服务器，从服务器获取该图像或视频后进行播放。In the prior art, the unmanned aerial vehicle can be used for aerial photography after being equipped with a shooting device, and the communication system of the unmanned aerial vehicle can transmit an image or video captured by the shooting device to the ground end, such as a remote controller, and the remote controller can further transmit the image or video to the user. Devices, such as mobile phones, tablets, computers, etc. After the user equipment is connected to the network, the image or video can be sent to the server on the network side, such as a cloud server or a server cluster. The player of the remote user can access the server and play the image or video from the server.
由于视频的每帧图像从无人飞行器传输到播放器需要经过多个设备、多条链路，导致视频的每帧图像从无人飞行器到播放器的传输时延较大，从而导致视频直播的时延较大。Since each frame of video transmitted from the UAV to the player needs to pass through multiple devices and multiple links, the transmission time of each frame of the video from the UAV to the player is large, resulting in live video. The delay is large.
发明内容Summary of the invention
本发明实施例提供一种视频传输的方法、设备及系统，以缩短视频直播的时延。The embodiment of the invention provides a method, a device and a system for video transmission, so as to shorten the delay of video live broadcast.
本发明实施例的第一方面是提供一种视频传输的方法，应用于无人飞行器，包括：A first aspect of the embodiments of the present invention provides a method for video transmission, which is applied to an unmanned aerial vehicle, including:
通过无人飞行器搭载的拍摄设备获取视频数据；Obtaining video data through a shooting device carried by an unmanned aerial vehicle;
通过处理器丢弃所述视频数据中的预设类型的图像帧；Discarding a preset type of image frame in the video data by a processor;
通过处理器对丢弃预设类型的图像帧后的视频数据进行编码；The video data after discarding the preset type of image frame is encoded by the processor;
通过通讯接口向遥控设备发送编码后的视频数据。The encoded video data is transmitted to the remote control device through the communication interface.
本发明实施例的第二方面是提供一种视频传输的方法，应用于无人飞行器，包括：A second aspect of the embodiments of the present invention provides a method for video transmission, which is applied to an unmanned aerial vehicle, including:
通过无人飞行器搭载的拍摄设备获取视频数据； Obtaining video data through a shooting device carried by an unmanned aerial vehicle;
通过处理器对所述视频数据进行编码；Encoding the video data by a processor;
通过通讯接口向遥控设备发送编码后的视频数据；Transmitting the encoded video data to the remote control device through the communication interface;
其中，在通过处理器对所述视频数据进行编码之前，所述视频数据不经过缓冲器的缓存；或者Wherein, before the video data is encoded by the processor, the video data does not pass through a buffer of the buffer; or
在通过通讯接口向遥控设备发送所述编码后的视频数据之前，所述编码后的视频数据不经过缓存器缓存。The encoded video data is not buffered by the buffer before the encoded video data is transmitted to the remote control device through the communication interface.
本发明实施例的第三方面是提供一种视频传输的方法，应用于遥控设备，包括：A third aspect of the present invention provides a method for video transmission, which is applied to a remote control device, including:
通过通讯接口接收无人飞行器发送的编码后的视频数据；Receiving the encoded video data sent by the UAV through the communication interface;
通过处理器将所述编码后的视频数据发送给终端设备；Transmitting the encoded video data to the terminal device by using a processor;
其中，在通过通讯接口接收无人飞行器发送的编码后的视频数据之后，所述视频数据不经过缓冲器的缓存；或者Wherein, after receiving the encoded video data sent by the UAV through the communication interface, the video data does not pass through the buffer of the buffer; or
在通过所述处理器将所述编码后的视频数据发送给终端设备之前，所述视频数据不经过缓冲器的缓存。The video data does not pass through the buffer of the buffer before the encoded video data is transmitted to the terminal device by the processor.
本发明实施例的第四方面是提供一种视频传输的方法，应用于与遥控设备连接的终端设备，包括：A fourth aspect of the embodiments of the present invention provides a method for video transmission, which is applied to a terminal device connected to a remote control device, including:
通过通讯接口接收遥控设备发送的编码视频数据，所述编码视频数据是对无人飞行器搭载的拍摄设备拍摄的视频数据进行编码得到的；Receiving, by the communication interface, encoded video data sent by the remote control device, where the encoded video data is obtained by encoding video data captured by a shooting device carried by the unmanned aerial vehicle;
通过处理器对所述编码视频数据进行解码得到所述视频数据；Decoding the encoded video data by a processor to obtain the video data;
通过处理器丢弃所述视频数据中的预设类型的图像帧；Discarding a preset type of image frame in the video data by a processor;
通过处理器对丢弃预设类型的图像帧后的视频数据进行编码；The video data after discarding the preset type of image frame is encoded by the processor;
通过处理器向流媒体服务器发送编码后的视频数据。The encoded video data is transmitted to the streaming server by the processor.
本发明实施例的第五方面是提供一种视频传输的方法，应用于与遥控设备连接的终端设备，包括：A fifth aspect of the present invention provides a method for video transmission, which is applied to a terminal device connected to a remote control device, including:
通过通讯接口接收遥控设备发送的编码视频数据，所述编码视频数据是对无人飞行器搭载的拍摄设备拍摄的视频数据进行编码得到的；Receiving, by the communication interface, encoded video data sent by the remote control device, where the encoded video data is obtained by encoding video data captured by a shooting device carried by the unmanned aerial vehicle;
通过处理器对所述编码视频数据进行解码得到所述视频数据；Decoding the encoded video data by a processor to obtain the video data;
通过处理器对所述视频数据进行编码；Encoding the video data by a processor;
通过处理器向流媒体服务器发送编码后的视频数据；Transmitting the encoded video data to the streaming server by the processor;
其中，在通过处理器对所述编码视频数据进行解码之前，所述编码 视频数据不经过缓冲器的缓存；或者Wherein the encoding is performed before the encoded video data is decoded by a processor Video data is not buffered by the buffer; or
在通过处理器向流媒体服务器发送编码后的视频数据之前，所述编码后的视频数据不经过缓存器缓存。The encoded video data is not buffered by the buffer before the encoded video data is sent to the streaming server by the processor.
本发明实施例的第六方面是提供一种视频传输的方法，应用于流媒体服务器，包括：A sixth aspect of the embodiments of the present invention provides a video transmission method, which is applied to a streaming media server, and includes:
通过通讯接口接收终端设备发送的编码视频数据,所述编码视频数据是对无人飞行器搭载的拍摄设备拍摄的视频数据进行编码得到的；Receiving, by the communication interface, encoded video data sent by the terminal device, where the encoded video data is obtained by encoding video data captured by a shooting device carried by the unmanned aerial vehicle;
通过处理器对所述编码视频数据进行解码得到所述视频数据；Decoding the encoded video data by a processor to obtain the video data;
通过处理器丢弃所述视频数据中的预设类型的图像帧；Discarding a preset type of image frame in the video data by a processor;
通过处理器对丢弃预设类型的图像帧后的视频数据进行编码；The video data after discarding the preset type of image frame is encoded by the processor;
通过处理器向远端设备发送编码后的视频数据。The encoded video data is transmitted to the remote device by the processor.
本发明实施例的第七方面是提供一种视频传输的方法，应用于流媒体服务器，包括：A seventh aspect of the embodiments of the present invention provides a video transmission method, which is applied to a streaming media server, and includes:
通过通讯接口接收终端设备发送的编码视频数据，所述编码视频数据是对无人飞行器搭载的拍摄设备拍摄的视频数据进行编码得到的；Receiving, by the communication interface, encoded video data sent by the terminal device, where the encoded video data is obtained by encoding video data captured by a shooting device carried by the unmanned aerial vehicle;
通过处理器对所述编码视频数据进行解码得到所述视频数据；Decoding the encoded video data by a processor to obtain the video data;
通过处理器对所述视频数据进行编码；Encoding the video data by a processor;
通过处理器向远端设备发送编码后的视频数据；Transmitting the encoded video data to the remote device by the processor;
其中，在通过处理器对所述编码视频数据进行解码之前，所述编码视频数据不经过缓冲器的缓存；或者Wherein, before the encoded video data is decoded by the processor, the encoded video data does not pass through a buffer of the buffer; or
在通过处理器向远端设备发送编码后的视频数据之前，所述编码后的视频数据不经过缓存器缓存。The encoded video data is not buffered by the buffer before the encoded video data is transmitted to the remote device by the processor.
本发明实施例的第八方面是提供一种无人飞行器，包括：An eighth aspect of the embodiments of the present invention provides an unmanned aerial vehicle, including:
拍摄设备，用于获取视频数据；a photographing device for acquiring video data;
处理器，用于丢弃所述视频数据中的预设类型的图像帧；及a processor, configured to discard a preset type of image frame in the video data; and
对丢弃预设类型的图像帧后的视频数据进行编码；Encoding the video data after discarding the preset type of image frame;
通讯接口，用于向遥控设备发送编码后的视频数据。A communication interface for transmitting encoded video data to a remote control device.
本发明实施例的第九方面是提供一种无人飞行器，包括：A ninth aspect of the embodiments of the present invention provides an unmanned aerial vehicle, including:
拍摄设备，用于获取视频数据；a photographing device for acquiring video data;
处理器，用于对所述视频数据进行编码； a processor, configured to encode the video data;
通讯接口，用于向遥控设备发送编码后的视频数据；a communication interface, configured to send the encoded video data to the remote control device;
其中，在所述处理器对所述视频数据进行编码之前，所述视频数据不经过缓冲器的缓存；或者Wherein, before the processor encodes the video data, the video data does not pass through a buffer of a buffer; or
在所述通讯接口向遥控设备发送所述编码后的视频数据之前，所述编码后的视频数据不经过缓存器缓存。Before the communication interface sends the encoded video data to the remote control device, the encoded video data does not pass through the buffer buffer.
本发明实施例的第十方面是提供一种遥控设备，包括：A tenth aspect of the embodiments of the present invention provides a remote control device, including:
通讯接口，用于接收无人飞行器发送的编码后的视频数据；a communication interface for receiving encoded video data sent by the UAV;
处理器，用于将所述编码后的视频数据发送给终端设备；a processor, configured to send the encoded video data to a terminal device;
其中，所述通讯接口接收无人飞行器发送的编码后的视频数据之后，所述视频数据不经过缓冲器的缓存；或者After the communication interface receives the encoded video data sent by the UAV, the video data does not pass through the buffer of the buffer; or
所述处理器将所述编码后的视频数据发送给终端设备之前，所述视频数据不经过缓冲器的缓存。Before the processor sends the encoded video data to the terminal device, the video data does not pass through the buffer of the buffer.
本发明实施例的第十一方面是提供一种终端设备，包括：通讯接口和处理器；An eleventh aspect of the embodiments of the present invention provides a terminal device, including: a communication interface and a processor;
所述通讯接口用于接收遥控设备发送的编码视频数据，所述编码视频数据是对无人飞行器搭载的拍摄设备拍摄的视频数据进行编码得到的；The communication interface is configured to receive encoded video data sent by a remote control device, where the encoded video data is obtained by encoding video data captured by a shooting device carried by an unmanned aerial vehicle;
所述处理器用于：The processor is used to:
对所述编码视频数据进行解码得到所述视频数据；Decoding the encoded video data to obtain the video data;
丢弃所述视频数据中的预设类型的图像帧；Discarding a preset type of image frame in the video data;
对丢弃预设类型的图像帧后的视频数据进行编码；Encoding the video data after discarding the preset type of image frame;
向流媒体服务器发送编码后的视频数据。The encoded video data is sent to the streaming server.
本发明实施例的第十二方面是提供一种终端设备，包括：通讯接口和处理器；A twelfth aspect of the embodiments of the present invention provides a terminal device, including: a communication interface and a processor;
所述通讯接口用于接收遥控设备发送的编码视频数据，所述编码视频数据是对无人飞行器搭载的拍摄设备拍摄的视频数据进行编码得到的；The communication interface is configured to receive encoded video data sent by a remote control device, where the encoded video data is obtained by encoding video data captured by a shooting device carried by an unmanned aerial vehicle;
所述处理器用于：The processor is used to:
对所述编码视频数据进行解码得到所述视频数据；Decoding the encoded video data to obtain the video data;
对所述视频数据进行编码；及 Encoding the video data; and
向流媒体服务器发送编码后的视频数据；Sending the encoded video data to the streaming server;
其中，在所述处理器对所述编码视频数据进行解码之前，所述编码视频数据不经过缓冲器的缓存；或者Wherein, before the processor decodes the encoded video data, the encoded video data does not pass through a buffer of a buffer; or
在所述处理器向流媒体服务器发送所述编码后的视频数据之前，所述编码后的视频数据不经过缓存器缓存。The encoded video data is not buffered by the buffer before the processor sends the encoded video data to the streaming server.
本发明实施例的第十三方面是提供一种流媒体服务器，包括：通讯接口和处理器；A thirteenth aspect of the embodiments of the present invention provides a streaming media server, including: a communication interface and a processor;
所述通讯接口用于接收终端设备发送的编码视频数据,所述编码视频数据是对无人飞行器搭载的拍摄设备拍摄的视频数据进行编码得到的；The communication interface is configured to receive encoded video data sent by the terminal device, where the encoded video data is obtained by encoding video data captured by a shooting device carried by the unmanned aerial vehicle;
所述处理器用于：The processor is used to:
对所述编码视频数据进行解码得到所述视频数据；Decoding the encoded video data to obtain the video data;
丢弃所述视频数据中的预设类型的图像帧；Discarding a preset type of image frame in the video data;
对丢弃预设类型的图像帧后的视频数据进行编码；Encoding the video data after discarding the preset type of image frame;
向远端设备发送编码后的视频数据。The encoded video data is sent to the remote device.
本发明实施例的第十四方面是提供一种流媒体服务器，包括：通讯接口和处理器；A fourteenth aspect of the embodiments of the present invention provides a streaming media server, including: a communication interface and a processor;
所述通讯接口用于接收终端设备发送的编码视频数据，所述编码视频数据是对无人飞行器搭载的拍摄设备拍摄的视频数据进行编码得到的；The communication interface is configured to receive encoded video data sent by the terminal device, where the encoded video data is obtained by encoding video data captured by a shooting device carried by the unmanned aerial vehicle;
所述处理器用于：The processor is used to:
对所述编码视频数据进行解码得到所述视频数据；Decoding the encoded video data to obtain the video data;
对所述视频数据进行编码；及Encoding the video data; and
向远端设备发送编码后的视频数据；Sending the encoded video data to the remote device;
其中，在所述处理器对所述编码视频数据进行解码之前，所述编码视频数据不经过缓冲器的缓存；或者Wherein, before the processor decodes the encoded video data, the encoded video data does not pass through a buffer of a buffer; or
在所述处理器向远端设备发送编码后的视频数据之前，所述编码后的视频数据不经过缓存器缓存。The encoded video data is not buffered by the buffer until the processor sends the encoded video data to the remote device.
本发明实施例的第十五方面是提供一种视频传输系统，包括：A fifteenth aspect of the embodiments of the present invention provides a video transmission system, including:
第八方面或第九方面所述的无人飞行器；An unmanned aerial vehicle according to the eighth aspect or the ninth aspect;
第十方面所述的遥控设备； a remote control device according to the tenth aspect;
第十一方面或第十二方面所述的终端设备；The terminal device according to the eleventh or twelfth aspect;
第十三方面或第十四方面所述的流媒体服务器。The streaming media server of the thirteenth aspect or the fourteenth aspect.
本实施例提供的视频传输的方法、设备及系统，通过无人飞行器搭载的拍摄设备获取视频数据，对该视频数据中的预设类型的图像帧进行丢弃，对丢弃预设类型的图像帧后的视频数据进行编码，并将编码后的视频数据发送给遥控设备，通过对预设类型的图像帧进行丢弃，减少了视频编码的运算量，同时减少了编码后的视频数据的传输量，既节省了无人飞行器的视频编码时间，又节省了编码后的视频数据从无人飞行器到遥控设备的传输时间，另外，还节省了远端设备解码视频数据的时间，以及降低了远端设备解码视频数据的复杂度，从而缩短了视频直播的时延。The method, device, and system for video transmission provided by the embodiment obtain video data by using a photographing device carried by an unmanned aerial vehicle, and discard the preset type of image frame in the video data, and discard the preset type of image frame. The video data is encoded, and the encoded video data is sent to the remote control device, and the image frame of the preset type is discarded, thereby reducing the computation amount of the video coding and reducing the transmission amount of the encoded video data. It saves the video coding time of the UAV and saves the transmission time of the encoded video data from the UAV to the remote control device. In addition, it saves the time for the remote device to decode the video data and reduces the decoding of the remote device. The complexity of video data, which shortens the delay of live video.
附图说明DRAWINGS
为了更清楚地说明本发明实施例中的技术方案，下面将对实施例描述中所需要使用的附图作一简单地介绍，显而易见地，下面描述中的附图是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly described below. It is obvious that the drawings in the following description are some embodiments of the present invention. Other drawings may also be obtained from those of ordinary skill in the art in view of the drawings.
图1为本发明实施例提供的一种视频传输的系统的结构示意图；1 is a schematic structural diagram of a system for video transmission according to an embodiment of the present invention;
图2为本发明实施例提供的视频传输的方法的流程图；2 is a flowchart of a method for video transmission according to an embodiment of the present invention;
图3为本发明实施例提供的另一种视频传输的系统的结构示意图；3 is a schematic structural diagram of another system for video transmission according to an embodiment of the present invention;
图4为本发明另一实施例提供的视频传输的方法的流程图；FIG. 4 is a flowchart of a method for video transmission according to another embodiment of the present invention;
图5为本发明实施例提供的视频数据处理的流程图；FIG. 5 is a flowchart of video data processing according to an embodiment of the present invention;
图6为本发明另一实施例提供的视频传输的方法的流程图；FIG. 6 is a flowchart of a method for video transmission according to another embodiment of the present invention;
图7为本发明另一实施例提供的视频传输的方法的流程图；FIG. 7 is a flowchart of a method for video transmission according to another embodiment of the present invention;
图8为本发明另一实施例提供的视频传输的方法的流程图；FIG. 8 is a flowchart of a method for video transmission according to another embodiment of the present invention;
图9为本发明实施例提供的另一种视频数据处理的流程图；FIG. 9 is a flowchart of another video data processing according to an embodiment of the present invention;
图10为本发明实施例提供的视频传输的方法的流程图；FIG. 10 is a flowchart of a method for video transmission according to an embodiment of the present invention;
图11为本发明实施例提供的另一种视频传输的系统的结构示意图；FIG. 11 is a schematic structural diagram of another system for video transmission according to an embodiment of the present disclosure;
图12为本发明实施例提供的视频传输的方法的流程图；FIG. 12 is a flowchart of a method for video transmission according to an embodiment of the present invention;
图13为本发明实施例提供的另一种视频传输的系统的结构示意图； FIG. 13 is a schematic structural diagram of another system for video transmission according to an embodiment of the present disclosure;
图14为本发明实施例提供的视频传输的方法的流程图；FIG. 14 is a flowchart of a method for video transmission according to an embodiment of the present invention;
图15为本发明实施例提供的视频传输的方法的流程图；FIG. 15 is a flowchart of a method for video transmission according to an embodiment of the present invention;
图16为本发明实施例提供的另一种视频传输的系统的结构示意图；FIG. 16 is a schematic structural diagram of another system for video transmission according to an embodiment of the present disclosure;
图17为本发明实施例提供的视频传输的方法的流程图；FIG. 17 is a flowchart of a method for video transmission according to an embodiment of the present invention;
图18为本发明实施例提供的视频传输的方法的流程图；FIG. 18 is a flowchart of a method for video transmission according to an embodiment of the present invention;
图19为本发明实施例提供的视频传输的方法的流程图；FIG. 19 is a flowchart of a method for video transmission according to an embodiment of the present invention;
图20为本发明实施例提供的无人飞行器的结构图。FIG. 20 is a structural diagram of an unmanned aerial vehicle according to an embodiment of the present invention.
附图标记：Reference mark:
11-无人飞行器   12-遥控设备   13-终端设备11-Unmanned aerial vehicle 12-Remote control device 13-Terminal device
14-基站         15-远程服务器 16-远端设备14-Base Station 15-Remote Server 16-Remote Device
110-云台        111-拍摄设备  112-处理器  113-通讯接口110-PTZ 111-Photographing Equipment 112-Processor 113-Communication Interface
50-视频数据     51-视频数据   52-片元     53-编码后的片元50-Video Data 51-Video Data 52-Piece 53-Coded Chips
91-视频数据     92-片元       93-编码后的片元91-Video data 92-chip 93-coded fragment
121-通讯接口    122-处理器    123-通讯接口121-Communication Interface 122-Processor 123-Communication Interface
131-通讯接口    132-处理器    133-通讯接口131-Communication Interface 132-Processor 133-Communication Interface
17-流媒体服务器 171-通讯接口  172-处理器17-Streaming Media Server 171-Communication Interface 172-Processor
173-通讯接口    18-服务器173-Communication interface 18-Server
200-无人飞行器  206-螺旋桨     207-电机200-UAV 206-propeller 207-motor
208-处理器      209-电子调速器 205-通讯接口208-processor 209-electronic governor 205-communication interface
202-支撑设备    204-拍摄设备202-Supporting equipment 204-Photographing equipment
具体实施方式Detailed ways
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。The technical solutions in the embodiments of the present invention will be clearly described with reference to the accompanying drawings in the embodiments of the present invention. It is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments of the present invention without creative efforts are within the scope of the present invention.
需要说明的是，当组件被称为“固定于”另一个组件，它可以直接在另一个组件上或者也可以存在居中的组件。当一个组件被认为是“连接”另一个组件，它可以是直接连接到另一个组件或者可能同时存在居中组件。 It should be noted that when a component is referred to as being "fixed" to another component, it can be directly on the other component or the component can be in the middle. When a component is considered to "connect" another component, it can be directly connected to another component or possibly a central component.
除非另有定义，本文所使用的所有的技术和科学术语与属于本发明的技术领域的技术人员通常理解的含义相同。本文中在本发明的说明书中所使用的术语只是为了描述具体的实施例的目的，不是旨在于限制本发明。本文所使用的术语“及/或”包括一个或多个相关的所列项目的任意的和所有的组合。All technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs, unless otherwise defined. The terminology used in the description of the present invention is for the purpose of describing particular embodiments and is not intended to limit the invention. The term "and/or" used herein includes any and all combinations of one or more of the associated listed items.
下面结合附图，对本发明的一些实施方式作详细说明。在不冲突的情况下，下述的实施例及实施例中的特征可以相互组合。Some embodiments of the present invention are described in detail below with reference to the accompanying drawings. The features of the embodiments and examples described below can be combined with each other without conflict.
如图1所示，无人飞行器11通过云台110搭载有拍摄设备111，拍摄设备111用于拍摄图像或视频，无人飞行器11将拍摄设备111拍摄的图像信息或视频数据发送给地面的遥控设备12，飞手可以通过遥控设备12控制无人飞行器11飞行。另外，遥控设备12还可以与终端设备13进行通信，通信方式可以是有线通信，也可以是无线通信，通过遥控设备12与终端设备13通信，遥控设备12将其接收到的无人飞行器11发送的图像信息或视频数据发送给终端设备13，终端设备13具体可以是手机、平板电脑、笔记本电脑等，本实施例以手机为例。飞手通过终端设备13即可观看到无人飞行器11搭载的拍摄设备111拍摄的图像信息或视频数据。为了能让远程用户通过远端设备16观看到该图像信息或视频数据，可通过终端设备13将该图像信息或视频数据通过基站14发送给远程服务器15，远程服务器15具体可以是流媒体服务器，远程服务器15与远端设备16通信，远端设备16从远程服务器15获取该图像信息或视频数据。As shown in FIG. 1, the UAV 11 is equipped with a photographing device 111 through a pan/tilt head 110, and the photographing device 111 is used to capture an image or video, and the UAV 11 transmits image information or video data photographed by the photographing device 111 to a remote control of the ground. The device 12, the flying hand can control the unmanned aerial vehicle 11 to fly through the remote control device 12. In addition, the remote control device 12 can also communicate with the terminal device 13 in a wired communication or wireless communication, and communicates with the terminal device 13 through the remote control device 12, and the remote control device 12 transmits the unmanned aerial vehicle 11 that it receives. The image information or the video data is sent to the terminal device 13. The terminal device 13 may be a mobile phone, a tablet computer, a notebook computer, or the like. The flying hand can view the image information or video data captured by the photographing device 111 mounted on the UAV 11 through the terminal device 13. In order to enable the remote user to view the image information or video data through the remote device 16, the image information or video data may be sent to the remote server 15 through the base station 14 through the terminal device 13. The remote server 15 may specifically be a streaming media server. The remote server 15 communicates with the remote device 16, which retrieves the image information or video data from the remote server 15.
根据图1可知，拍摄设备111拍摄的每帧图像需要依次经过无人飞行器11、遥控设备12、终端设备13、基站14、远程服务器15到达远端设备16，由于无人飞行器11、遥控设备12、终端设备13、基站14、远程服务器15中的一个或多个可能会将每帧图像放入缓冲器中缓存，导致该每帧图像从无人飞行器11到达远端设备16的传输时延较大，另外，每帧图像从无人飞行器11到达远端设备16需要经过多条通信链路，若多条通信链路的传输速率较低，将进一步加大每帧图像的传输时延。对于视频数据而言，远程用户希望通过远端设备16观看到流畅的视频数据，而由于每帧图像的传输时延较大，从而导致视频直播的时延较大，远程用户可能无法观看到流畅的视频数据。为了解决该问题，本实施例提供了一种 视频传输的方法，下面结合具体的实施例对视频传输的方法进行介绍。According to FIG. 1 , each frame of image captured by the photographing device 111 needs to pass through the UAV 11 , the remote control device 12 , the terminal device 13 , the base station 14 , and the remote server 15 to reach the remote device 16 , because the UAV 11 and the remote control device 12 . One or more of the terminal device 13, the base station 14, and the remote server 15 may place each frame of image into a buffer for buffering, resulting in a transmission delay of the image per frame from the unmanned aerial vehicle 11 to the remote device 16. In addition, each frame of image from the unmanned aerial vehicle 11 to the remote device 16 needs to go through multiple communication links. If the transmission rate of multiple communication links is low, the transmission delay of each frame of image will be further increased. For the video data, the remote user wants to view the smooth video data through the remote device 16, and the delay of the live broadcast of the video is large due to the large transmission delay of each frame of the image, and the remote user may not be able to watch the smoothness. Video data. In order to solve the problem, the embodiment provides a The method of video transmission, the method of video transmission is introduced below in conjunction with a specific embodiment.
本发明实施例提供一种视频传输的方法。图2为本发明实施例提供的视频传输的方法的流程图。本发明实施例提供的视频传输的方法应用于无人飞行器，如图2所示，本实施例中的方法，可以包括：Embodiments of the present invention provide a method for video transmission. FIG. 2 is a flowchart of a method for video transmission according to an embodiment of the present invention. The method for video transmission provided by the embodiment of the present invention is applied to an unmanned aerial vehicle. As shown in FIG. 2, the method in this embodiment may include:
步骤S201、通过无人飞行器搭载的拍摄设备获取视频数据。Step S201, acquiring video data by a photographing device mounted on the UAV.
本实施例方法的执行主体可以是无人飞行器，具体可以是无人飞行器内的处理器，该处理器可以是通用或者专用处理器，也可以是飞行控制器。The execution body of the method of this embodiment may be an unmanned aerial vehicle, and may specifically be a processor in an unmanned aerial vehicle, and the processor may be a general-purpose or dedicated processor, or may be a flight controller.
如图3所示，无人飞行器11通过云台110搭载有拍摄设备111，拍摄设备111用于拍摄图像或视频，无人飞行器11内的处理器112可获取拍摄设备111拍摄到的视频数据，例如，拍摄设备111将其拍摄到的视频数据实时的传输给处理器112。在本实施例中，拍摄设备111拍摄到的视频数据可以包括不同类型的图像帧，例如，帧内编码帧(intra picture)简称I帧、前向预测编码帧(predictive-frame)简称P帧、双向预测编码帧(bi-directional prediction frame)简称B帧，其中，I帧可以看成是对一帧图像自身进行压缩后得到的结果，解码时仅用I帧的数据就可重构完整图像。当把一帧图像压缩成P帧时，需要根据本帧和相邻的前一帧(I帧或B帧)的不同点来压缩本帧，解码时需要结合P帧和相邻的前一帧(I帧或B帧)生成一帧完整的图像。当把一帧图像压缩成B帧时，需要根据相邻的前一帧、本帧以及后一帧数据的不同点来压缩本帧，也即仅记录本帧与前后帧的差值，解码时需要结合B帧、相邻的前一帧(I帧或P帧)以及后一帧(P帧)生成一帧完整的图像。As shown in FIG. 3, the unmanned aerial vehicle 11 is equipped with a photographing device 111 through the pan/tilt head 110, and the photographing device 111 is used to capture an image or video, and the processor 112 in the unmanned aerial vehicle 11 can acquire the video data captured by the photographing device 111. For example, the photographing device 111 transmits the captured video data to the processor 112 in real time. In this embodiment, the video data captured by the photographing device 111 may include different types of image frames, for example, an intra picture is referred to as an I frame, and a predictive-frame is referred to as a P frame. A bi-directional prediction frame is abbreviated as a B frame. The I frame can be regarded as a result obtained by compressing a frame of the image itself. When decoding, the entire image can be reconstructed only by using the data of the I frame. When compressing a frame of image into a P frame, the frame needs to be compressed according to different points of the current frame and the adjacent previous frame (I frame or B frame), and the P frame and the adjacent previous frame need to be combined in decoding. (I frame or B frame) Generates a complete image of one frame. When compressing a frame of image into a B frame, it is necessary to compress the frame according to different points of the adjacent previous frame, the current frame, and the subsequent frame data, that is, only the difference between the current frame and the previous frame is recorded, and when decoding, It is necessary to generate a complete image of a frame in combination with a B frame, an adjacent previous frame (I frame or P frame), and a subsequent frame (P frame).
步骤S202、通过处理器丢弃所述视频数据中的预设类型的图像帧。Step S202: Discard the preset type of image frame in the video data by using a processor.
在本实施例中，当无人飞行器11内的处理器112获取到拍摄设备111拍摄到的视频数据时，丢弃该视频数据中的预设类型的图像帧。所述预设类型的图像帧至少包括双向预测编码帧和前向预测编码帧中的一种。在本实施例中，处理器112丢弃视频数据中的双向预测编码帧即B帧。由于B帧需要参考其前后帧才能完成解码，假如一个B帧需要参考其后面10帧才能解码，则解码一个B帧将造成10帧的延时。在其他实施例中， 处理器112可以丢弃视频数据中的前向预测编码帧即P帧，或者，处理器112还可以丢弃部分B帧和部分P帧。In the present embodiment, when the processor 112 in the UAV 11 acquires the video data captured by the photographing device 111, the image frame of the preset type in the video data is discarded. The preset type of image frame includes at least one of a bidirectional predictive coding frame and a forward predictive coding frame. In the present embodiment, the processor 112 discards the bidirectionally predictive coded frame, i.e., the B frame, in the video data. Since the B frame needs to refer to its preceding and succeeding frames to complete the decoding, if a B frame needs to be referenced to the next 10 frames to decode, decoding one B frame will result in a delay of 10 frames. In other embodiments, The processor 112 may discard the forward predictive coded frame, i.e., the P frame, in the video data, or the processor 112 may also discard the partial B frame and the partial P frame.
步骤S203、通过处理器对丢弃预设类型的图像帧后的视频数据进行编码。Step S203: The video data after discarding the preset type of image frame is encoded by the processor.
处理器112对丢弃B帧后的视频数据进行编码得到编码后的视频数据，本实施例不限定具体的编码方法。The processor 112 encodes the video data after the B frame is discarded to obtain the encoded video data. This embodiment does not limit the specific coding method.
步骤S204、通过通讯接口向遥控设备发送编码后的视频数据。Step S204: Send the encoded video data to the remote control device through the communication interface.
如图3所示，处理器112通过无人飞行器11的通讯接口113向遥控设备12发送编码后的视频数据。遥控设备12将该编码后的视频数据发送给终端设备13，终端设备13通过基站14将该编码后的视频数据发送给远程服务器15，远端设备16从远程服务器15获取该编码后的视频数据，并对该编码后的视频数据进行解码，由于该编码后的视频数据不包括B帧，因此，远端设备16在对该编码后的视频数据进行解码时，不需要参考当前帧后面的帧即可对当前帧进行解码得到完整的图像并进行显示。As shown in FIG. 3, the processor 112 transmits the encoded video data to the remote control device 12 via the communication interface 113 of the unmanned aerial vehicle 11. The remote control device 12 transmits the encoded video data to the terminal device 13, and the terminal device 13 transmits the encoded video data to the remote server 15 through the base station 14, and the remote device 16 acquires the encoded video data from the remote server 15. And decoding the encoded video data. Since the encoded video data does not include the B frame, the remote device 16 does not need to refer to the frame behind the current frame when decoding the encoded video data. The current frame can be decoded to obtain a complete image and displayed.
本实施例通过无人飞行器搭载的拍摄设备获取视频数据，对该视频数据中的预设类型的图像帧进行丢弃，对丢弃预设类型的图像帧后的视频数据进行编码，并将编码后的视频数据发送给遥控设备，通过对预设类型的图像帧进行丢弃，减少了视频编码的运算量，同时减少了编码后的视频数据的传输量，既节省了无人飞行器的视频编码时间，又节省了编码后的视频数据从无人飞行器到遥控设备的传输时间，另外，还节省了远端设备解码视频数据的时间，以及降低了远端设备解码视频数据的复杂度，从而缩短了视频直播的时延。In this embodiment, video data is acquired by a photographing device carried by an unmanned aerial vehicle, and a preset type of image frame in the video data is discarded, and video data after discarding a preset type of image frame is encoded, and the encoded image is encoded. The video data is sent to the remote control device, and the image frame of the preset type is discarded, thereby reducing the calculation amount of the video coding, and reducing the transmission amount of the encoded video data, thereby saving the video coding time of the unmanned aerial vehicle, and The transmission time of the encoded video data from the unmanned aerial vehicle to the remote control device is saved, and the time for the remote device to decode the video data is saved, and the complexity of decoding the video data by the remote device is reduced, thereby shortening the live video. Delay.
本发明实施例提供一种视频传输的方法。图4为本发明另一实施例提供的视频传输的方法的流程图。如图4所示，在图2所示实施例的基础上，本实施例中的方法，可以包括：Embodiments of the present invention provide a method for video transmission. FIG. 4 is a flowchart of a method for video transmission according to another embodiment of the present invention. As shown in FIG. 4, on the basis of the embodiment shown in FIG. 2, the method in this embodiment may include:
步骤S401、通过无人飞行器搭载的拍摄设备获取视频数据。Step S401: Acquire video data by a photographing device mounted on the UAV.
如图3和5所示，50表示无人飞行器11内的处理器112获取到的拍摄设备111拍摄到的视频数据，该视频数据包括若干I帧、B帧、P帧，此处指示示意性说明，并不限定该视频数据中图像帧的个数，也不限定I 帧、B帧、P帧的个数。As shown in FIG. 3 and FIG. 5, 50 denotes video data captured by the photographing device 111 acquired by the processor 112 in the UAV 11, and the video data includes a number of I frames, B frames, and P frames, where the indication is indicated. The description does not limit the number of image frames in the video data, nor does it limit I. The number of frames, B frames, and P frames.
步骤S402、通过处理器丢弃所述视频数据中的预设类型的图像帧。Step S402, discarding, by the processor, a preset type of image frame in the video data.
可选的，处理器112丢弃该视频数据中的B帧，得到51所示的视频数据，如图5所示，视频数据51中只包括I帧和P帧。Optionally, the processor 112 discards the B frame in the video data to obtain the video data shown by 51. As shown in FIG. 5, the video data 51 includes only the I frame and the P frame.
步骤S403、通过所述处理器将丢弃预设类型的图像帧后的视频数据中的每一帧图像划分成多个片元。Step S403, the image of each frame in the video data after discarding the preset type of image frame is divided into a plurality of slices by the processor.
处理器112可以对视频数据51中的每一帧图像进行划分，将每一帧图像划分成多个片元52，本实施例不限定对每一帧图像的具体划分方式。The processor 112 may divide each frame image in the video data 51 and divide each frame image into a plurality of slices 52. This embodiment does not limit the specific division manner of each frame image.
步骤S404、通过所述处理器对所述视频数据中每一帧图像划分得到的片元进行编码。Step S404, encoding, by the processor, the fragment obtained by dividing each frame image in the video data.
处理器112具体对视频数据51中的每一帧图像划分得到的片元52进行编码，对每个片元52进行编码后得到编码后的片元53。The processor 112 specifically encodes the slice 52 obtained by dividing each frame of the video data 51, and encodes each slice 52 to obtain the encoded slice 53.
步骤S405、通过所述通讯接口向遥控设备发送每一个编码后的片元。Step S405: Send each encoded fragment to the remote control device through the communication interface.
处理器112可通过通讯接口113向遥控设备12发送每一个编码后的片元53。相比于编码后的一帧图像，编码后的片元53数据量更小，当从无人飞行器11到遥控设备12的通信链路的带宽不够高时，编码后的片元53能够从无人飞行器11正常的传输到遥控设备12。The processor 112 can transmit each encoded fragment 53 to the remote control device 12 via the communication interface 113. Compared with the encoded one frame image, the encoded slice 53 has a smaller amount of data. When the bandwidth of the communication link from the unmanned aerial vehicle 11 to the remote control device 12 is not sufficiently high, the encoded slice 53 can be obtained from none. The human aircraft 11 is normally transmitted to the remote control device 12.
进一步的，遥控设备12将该每一个编码后的片元53发送给终端设备13，终端设备13通过基站14将每一个编码后的片元53发送给远程服务器15，远端设备16从远程服务器15获取每一个编码后的片元53，并对每一个编码后的片元53进行解码，由于每一个编码后的片元53不包括B帧，因此，远端设备16在对该编码后的视频数据进行解码时，不需要参考当前帧后面的帧即可对当前帧进行解码得到完整的图像并进行显示。Further, the remote control device 12 transmits each encoded slice 53 to the terminal device 13, and the terminal device 13 transmits each encoded slice 53 to the remote server 15 through the base station 14, and the remote device 16 is from the remote server. 15 acquiring each encoded slice 53 and decoding each encoded slice 53. Since each encoded slice 53 does not include a B frame, the remote device 16 is after the encoding. When the video data is decoded, the current frame can be decoded without referring to the frame behind the current frame to obtain a complete image and displayed.
可选的，在通过处理器丢弃所述视频数据中的预设类型的图像帧之前，所述视频数据不经过缓冲器的缓存；或者在通过通讯接口向遥控设备发送所述编码后的视频数据之前，所述编码后的视频数据不经过缓存器缓存。具体的，处理器112从拍摄设备111获取到视频数据，在丢弃该视频数据中的B帧之前，该视频数据不经过缓冲器的缓存；或者，处理 器112通过通讯接口113向遥控设备12发送编码后的片元53之前，编码后的片元53不经过缓存器缓存。即处理器112实时的从拍摄设备111获取视频数据，丢弃该视频数据中的B帧，并对丢弃B帧后的视频数据划分为片元52，以及对每个片元52编码后得到编码后的片元53，立即将编码后的片元53发送给遥控设备12，避免由于对视频数据的缓存和/或对编码后的片元的缓存而增加视频直播的时延。Optionally, before the processor discards the preset type of the image frame in the video data, the video data does not pass through the buffer of the buffer; or sends the encoded video data to the remote control device through the communication interface. Previously, the encoded video data was not buffered by the buffer. Specifically, the processor 112 acquires video data from the photographing device 111, and the video data does not pass through the buffer of the buffer before discarding the B frame in the video data; or, processing Before the device 112 transmits the encoded fragment 53 to the remote control device 12 via the communication interface 113, the encoded fragment 53 does not pass through the buffer buffer. That is, the processor 112 acquires video data from the photographing device 111 in real time, discards the B frame in the video data, and divides the video data after discarding the B frame into the fragment 52, and encodes each fragment 52 to obtain the encoded image. The slice element 53 immediately transmits the encoded slice element 53 to the remote control device 12, avoiding the delay of increasing the live broadcast of the video due to buffering of the video data and/or buffering of the encoded slice.
可选的，所述缓冲器为处理器112内部的缓冲器。或者，所述缓冲器为处理器112外部的缓冲器。Optionally, the buffer is a buffer inside the processor 112. Alternatively, the buffer is a buffer external to processor 112.
本实施例通过在丢弃视频数据中的预设类型的图像帧之前，视频数据不经过缓冲器的缓存；或者在通过通讯接口向遥控设备发送所述编码后的视频数据之前，编码后的视频数据不经过缓存器缓存，避免由于对视频数据的缓存而增加视频直播的时延，进一步缩短了视频直播的时延。In this embodiment, before the video frame of the preset type in the video data is discarded, the video data does not pass through the buffer of the buffer; or the encoded video data is sent before the encoded video data is transmitted to the remote control device through the communication interface. The buffer cache is not used to avoid the delay of the live broadcast of the video due to the buffering of the video data, thereby further shortening the delay of the live video broadcast.
本发明实施例提供一种视频传输的方法。图6为本发明另一实施例提供的视频传输的方法的流程图。本发明实施例提供的视频传输的方法应用于无人飞行器，如图6所示，本实施例中的方法，可以包括：Embodiments of the present invention provide a method for video transmission. FIG. 6 is a flowchart of a method for video transmission according to another embodiment of the present invention. The method for video transmission provided by the embodiment of the present invention is applied to an unmanned aerial vehicle. As shown in FIG. 6, the method in this embodiment may include:
步骤S601、通过无人飞行器搭载的拍摄设备获取视频数据。Step S601: Acquire video data by a photographing device mounted on the UAV.
步骤S601与步骤S201一致，具体过程此处不再赘述。Step S601 is the same as step S201, and details are not described herein again.
步骤S602、通过处理器对所述视频数据进行编码。Step S602, encoding the video data by a processor.
结合图3和图6，无人飞行器11内的处理器112从拍摄设备111获取到视频数据后，直接对该视频数据进行编码，得到编码后的视频数据。3 and FIG. 6, after the processor 112 in the UAV 11 acquires the video data from the photographing device 111, the video data is directly encoded to obtain the encoded video data.
步骤S603、通过通讯接口向遥控设备发送编码后的视频数据。Step S603: Send the encoded video data to the remote control device through the communication interface.
如图3所示，处理器112通过无人飞行器11的通讯接口113向遥控设备12发送编码后的视频数据。As shown in FIG. 3, the processor 112 transmits the encoded video data to the remote control device 12 via the communication interface 113 of the unmanned aerial vehicle 11.
其中，在通过处理器对所述视频数据进行编码之前，所述视频数据不经过缓冲器的缓存；或者在通过通讯接口向遥控设备发送所述编码后的视频数据之前，所述编码后的视频数据不经过缓存器缓存。具体的，处理器112从拍摄设备111获取到视频数据后，在对该视频数据进行编码之前，该视频数据不经过缓冲器的缓存，或者，处理器112对视频数据进 行编码后，通过无人飞行器11的通讯接口113向遥控设备12发送编码后的视频数据之前，该视频数据不经过缓冲器的缓存。The video data is not buffered by the buffer before the video data is encoded by the processor; or the encoded video is sent before the encoded video data is sent to the remote control device through the communication interface. Data is not buffered by the cache. Specifically, after the processor 112 acquires the video data from the photographing device 111, the video data does not pass through the buffer of the buffer before encoding the video data, or the processor 112 inputs the video data. After line encoding, the video data is not buffered by the buffer until the encoded video data is transmitted to the remote control device 12 via the communication interface 113 of the UAV 11.
所述缓冲器为处理器112内部的缓冲器。或者所述缓冲器为处理器112外部的缓冲器。The buffer is a buffer internal to the processor 112. Or the buffer is a buffer external to the processor 112.
本实施例通过无人飞行器对拍摄设备拍摄的视频数据进行编码之前，该视频数据不经过缓冲器的缓存；或者在无人飞行器向遥控设备发送编码后的视频数据之前，该编码后的视频数据不经过缓存器缓存，避免由于无人飞行器对视频数据的缓存而增加视频直播的时延。In this embodiment, before the video data captured by the photographing device is encoded by the unmanned aerial vehicle, the video data does not pass through the buffer of the buffer; or the encoded video data is sent before the unmanned aerial vehicle transmits the encoded video data to the remote control device. It does not pass the buffer buffer to avoid the delay of video live broadcast due to the unmanned aircraft buffering the video data.
本发明实施例提供一种视频传输的方法。图7为本发明另一实施例提供的视频传输的方法的流程图。如图7所示，在图6所示实施例的基础上，本实施例中的方法，可以包括：Embodiments of the present invention provide a method for video transmission. FIG. 7 is a flowchart of a method for video transmission according to another embodiment of the present invention. As shown in FIG. 7, on the basis of the embodiment shown in FIG. 6, the method in this embodiment may include:
步骤S701、通过无人飞行器搭载的拍摄设备获取视频数据。Step S701: Acquire video data by a photographing device mounted on the UAV.
步骤S701与步骤S201一致，具体过程此处不再赘述。Step S701 is consistent with step S201, and details are not described herein again.
步骤S702、通过处理器丢弃所述视频数据中的预设类型的图像帧。Step S702, discarding, by the processor, a preset type of image frame in the video data.
所述预设类型的图像帧至少包括双向预测编码帧和前向预测编码帧中的一种。The preset type of image frame includes at least one of a bidirectional predictive coding frame and a forward predictive coding frame.
步骤S702与步骤S202一致，具体过程此处不再赘述。Step S702 is consistent with step S202, and details are not described herein again.
步骤S703、通过处理器对丢弃预设类型的图像帧后的视频数据进行编码。Step S703, encoding, by the processor, the video data after discarding the preset type of image frame.
步骤S703与步骤S203一致，具体过程此处不再赘述。Step S703 is the same as step S203, and details are not described herein again.
步骤S704、通过通讯接口向遥控设备发送编码后的视频数据。Step S704: Send the encoded video data to the remote control device through the communication interface.
步骤S704与步骤S204一致，具体过程此处不再赘述。Step S704 is consistent with step S204, and details are not described herein again.
本实施例通过无人飞行器搭载的拍摄设备获取视频数据，对该视频数据中的预设类型的图像帧进行丢弃，对丢弃预设类型的图像帧后的视频数据进行编码，并将编码后的视频数据发送给遥控设备，通过对预设类型的图像帧进行丢弃，减少了视频编码的运算量，同时减少了编码后的视频数据的传输量，既节省了无人飞行器的视频编码时间，又节省了编码后的视频数据从无人飞行器到遥控设备的传输时间，另外，还节省了远端设备解码视频数据的时间，以及降低了远端设备解码视频数据的 复杂度，进一步缩短了视频直播的时延。In this embodiment, video data is acquired by a photographing device carried by an unmanned aerial vehicle, and a preset type of image frame in the video data is discarded, and video data after discarding a preset type of image frame is encoded, and the encoded image is encoded. The video data is sent to the remote control device, and the image frame of the preset type is discarded, thereby reducing the calculation amount of the video coding, and reducing the transmission amount of the encoded video data, thereby saving the video coding time of the unmanned aerial vehicle, and The transmission time of the encoded video data from the unmanned aerial vehicle to the remote control device is saved, and the time for the remote device to decode the video data is saved, and the decoding of the video data by the remote device is also reduced. The complexity further reduces the delay of live video.
本发明实施例提供一种视频传输的方法。图8为本发明另一实施例提供的视频传输的方法的流程图。如图8所示，在图6或图7所示实施例的基础上，视频传输的方法还可以包括：通过处理器将所述视频数据中的每一帧图像划分成多个片元。以图6为例，在图6所示实施例的基础上，在步骤S601之后，还可以包括如下步骤：Embodiments of the present invention provide a method for video transmission. FIG. 8 is a flowchart of a method for video transmission according to another embodiment of the present invention. As shown in FIG. 8, on the basis of the embodiment shown in FIG. 6 or FIG. 7, the method for video transmission may further include: dividing, by the processor, each frame image in the video data into a plurality of slices. Taking FIG. 6 as an example, on the basis of the embodiment shown in FIG. 6, after step S601, the following steps may be further included:
步骤S801、通过处理器将所述视频数据中的每一帧图像划分成多个片元。Step S801, dividing, by the processor, each frame image in the video data into a plurality of slices.
如图9所示，91表示无人飞行器11内的处理器112获取到的拍摄设备111拍摄到的视频数据，该视频数据包括若干I帧、B帧、P帧，此处指示示意性说明，并不限定该视频数据中图像帧的个数，也不限定I帧、B帧、P帧的个数。As shown in FIG. 9, reference numeral 91 denotes video data captured by the photographing device 111 acquired by the processor 112 in the UAV 11, and the video data includes a plurality of I frames, B frames, and P frames, and a schematic description is indicated herein. The number of image frames in the video data is not limited, and the number of I frames, B frames, and P frames is not limited.
处理器112可以对视频数据91中的每一帧图像进行划分，将每一帧图像划分成多个片元92，本实施例不限定对每一帧图像的具体划分方式。另外，在其他实施例中，视频数据91也可以是丢弃预设类型的图像帧之后的视频数据，例如丢弃B帧之后的视频数据。The processor 112 may divide each frame image in the video data 91 and divide each frame image into a plurality of slices 92. This embodiment does not limit the specific division manner of each frame image. In addition, in other embodiments, the video data 91 may also be video data after discarding a preset type of image frame, such as discarding video data after the B frame.
相应的，步骤S602通过处理器对所述视频数据进行编码，包括：Correspondingly, step S602 encodes the video data by using a processor, including:
步骤S802、通过处理器对所述视频数据中每一帧图像划分得到的片元进行编码。Step S802, encoding, by the processor, a fragment obtained by dividing each frame image in the video data.
处理器112具体对视频数据91中的每一帧图像划分得到的片元92进行编码，对每个片元92进行编码后得到编码后的片元93。The processor 112 specifically encodes the slice 92 obtained by dividing each frame image in the video data 91, and encodes each slice 92 to obtain the encoded slice 93.
相应的，步骤S603通过通讯接口向遥控设备发送编码后的视频数据，包括：Correspondingly, step S603 sends the encoded video data to the remote control device through the communication interface, including:
步骤S803、通过通讯接口向遥控设备发送每一个编码后的片元。Step S803, sending each encoded fragment to the remote control device through the communication interface.
处理器112可通过通讯接口113向遥控设备12发送每一个编码后的片元93。相比于编码后的一帧图像，编码后的片元93数据量更小，当从无人飞行器11到遥控设备12的通信链路的带宽不够高时，编码后的片元93能够从无人飞行器11正常的传输到遥控设备12。The processor 112 can transmit each encoded fragment 93 to the remote control device 12 via the communication interface 113. The encoded slice 93 has a smaller amount of data than the encoded one frame image, and when the bandwidth of the communication link from the unmanned aerial vehicle 11 to the remote control device 12 is not sufficiently high, the encoded slice 93 can be never The human aircraft 11 is normally transmitted to the remote control device 12.
本实施例通过无人飞行器的处理器将拍摄设备拍摄的每帧图像进行 划分，并对划分后的片元进行编码，无人飞行器的处理器通过通讯接口向遥控设备发送每一个编码后的片元，每一个编码后的片元进一步通过遥控设备、终端设备、基站、远程服务器达远端设备，每一个编码后的片元从无人飞行器到达远端设备需要经过多条通信链路，当多条通信链路中的部分链路或全部链路的带宽不够高时，由于编码后的片元的数据量更小，可使得编码后的片元能够从无人飞行器正常传输到远端设备，避免了由于带宽不够而造成的传输时延。In this embodiment, the image of each frame captured by the photographing device is performed by the processor of the unmanned aerial vehicle. Dividing and encoding the divided segments, the processor of the UAV sends each encoded segment to the remote control device through the communication interface, and each encoded segment further passes through the remote control device, the terminal device, the base station, The remote server reaches the remote device, and each coded chip needs to pass through multiple communication links from the unmanned aircraft to the remote device, when the bandwidth of some links or all links in multiple communication links is not high enough. Since the encoded data of the chip is smaller, the encoded chip can be normally transmitted from the UAV to the remote device, thereby avoiding the transmission delay caused by insufficient bandwidth.
本发明实施例提供一种视频传输的方法。图10为本发明实施例提供的视频传输的方法的流程图。本发明实施例提供的视频传输的方法应用于遥控设备，如图10所示，本实施例中的方法，可以包括：Embodiments of the present invention provide a method for video transmission. FIG. 10 is a flowchart of a method for video transmission according to an embodiment of the present invention. The method for video transmission provided by the embodiment of the present invention is applied to a remote control device. As shown in FIG. 10, the method in this embodiment may include:
步骤S1001、通过通讯接口接收无人飞行器发送的编码后的视频数据。In step S1001, the encoded video data sent by the UAV is received through the communication interface.
本实施例方法的执行主体可以是遥控设备。The execution body of the method of this embodiment may be a remote control device.
如图11所示，遥控设备12包括通讯接口121、处理器122和通讯接口123，处理器122可以是通用或者专用处理器。无人飞行器11内的处理器112获取拍摄设备111拍摄到的视频数据，并对该视频数据进行编码得到编码后的视频数据，处理器112通过通讯接口113向遥控设备12发送编码后的视频数据，遥控设备12的通讯接口121接收无人飞行器11的通讯接口113发送的编码后的视频数据。As shown in FIG. 11, the remote control device 12 includes a communication interface 121, a processor 122, and a communication interface 123. The processor 122 can be a general purpose or special purpose processor. The processor 112 in the UAV 11 acquires the video data captured by the photographing device 111, and encodes the video data to obtain the encoded video data, and the processor 112 transmits the encoded video data to the remote control device 12 via the communication interface 113. The communication interface 121 of the remote control device 12 receives the encoded video data transmitted by the communication interface 113 of the unmanned aerial vehicle 11.
步骤S1002、通过处理器将所述编码后的视频数据发送给终端设备。Step S1002: The encoded video data is sent to the terminal device by the processor.
遥控设备12的通讯接口121将编码后的视频数据透传至处理器122，处理器122将编码后的视频数据透传至终端设备13，具体的，处理器122控制通讯接口123将编码后的视频数据透传至终端设备13。The communication interface 121 of the remote control device 12 transparently transmits the encoded video data to the processor 122. The processor 122 transparently transmits the encoded video data to the terminal device 13. Specifically, the processor 122 controls the communication interface 123 to encode the encoded data. The video data is transparently transmitted to the terminal device 13.
在本实施例中，遥控设备12和终端设备13可以有线连接，也可以无线连接，例如，遥控设备12和终端设备13进行有线通信，遥控设备12和无人飞行器11进行无线通信，则遥控设备12的通讯接口121具体为无线通讯接口，遥控设备12的通讯接口123具体为有线通讯接口。In this embodiment, the remote control device 12 and the terminal device 13 may be connected by wire or wirelessly. For example, the remote control device 12 and the terminal device 13 perform wired communication, and the remote control device 12 and the unmanned aerial vehicle 11 perform wireless communication, and the remote control device The communication interface 121 of the 12 is specifically a wireless communication interface, and the communication interface 123 of the remote control device 12 is specifically a wired communication interface.
其中，在通过通讯接口121接收无人飞行器11发送的编码后的视频数据之后，所述视频数据不经过缓冲器的缓存；或者在通过处理器122将 所述编码后的视频数据发送给终端设备13之前，所述视频数据不经过缓冲器的缓存。Wherein, after receiving the encoded video data sent by the UAV 11 through the communication interface 121, the video data does not pass through the buffer of the buffer; or Before the encoded video data is transmitted to the terminal device 13, the video data does not pass through the buffer of the buffer.
所述缓冲器为处理器122内部的缓冲器；或者，所述缓冲器为处理器122外部的缓冲器。The buffer is a buffer internal to the processor 122; or the buffer is a buffer external to the processor 122.
本实施例通过遥控设备在通过通讯接口接收无人飞行器发送的编码后的视频数据之后，所述视频数据不经过缓冲器的缓存；或者在通过处理器将所述编码后的视频数据发送给终端设备之前，所述视频数据不经过缓冲器的缓存，避免由于遥控设备对视频数据的缓存而增加视频直播的时延。In this embodiment, after the encoded video data sent by the UAV is received through the communication interface by the remote control device, the video data does not pass through the buffer of the buffer; or the encoded video data is sent to the terminal by the processor. Before the device, the video data does not pass through the buffer of the buffer, thereby avoiding the delay of the live video broadcast due to the buffering of the video data by the remote control device.
本发明实施例提供一种视频传输的方法。图12为本发明实施例提供的视频传输的方法的流程图。本发明实施例提供的视频传输的方法应用于与遥控设备连接的终端设备，如图12所示，本实施例中的方法，可以包括：Embodiments of the present invention provide a method for video transmission. FIG. 12 is a flowchart of a method for video transmission according to an embodiment of the present invention. The method for the video transmission provided by the embodiment of the present invention is applied to the terminal device connected to the remote control device. As shown in FIG. 12, the method in this embodiment may include:
步骤S1201、通过通讯接口接收遥控设备发送的编码视频数据，所述编码视频数据是对无人飞行器搭载的拍摄设备拍摄的视频数据进行编码得到的。Step S1201: Receive encoded video data sent by the remote control device through a communication interface, where the encoded video data is obtained by encoding video data captured by a photographing device mounted on the unmanned aerial vehicle.
本实施例方法的执行主体可以是与遥控设备连接的终端设备。The execution body of the method of this embodiment may be a terminal device connected to the remote control device.
如图13所示，终端设备13包括通讯接口131、处理器132和通讯接口133，处理器132可以是通用或者专用处理器。无人飞行器11内的处理器112获取拍摄设备111拍摄到的视频数据，并对拍摄设备111拍摄到的视频数据进行编码得到编码视频数据，无人飞行器11内的处理器112通过通讯接口113向遥控设备12发送该编码视频数据，遥控设备12的通讯接口121接收无人飞行器11发送的该编码视频数据，遥控设备12进一步将该编码视频数据透传给终端设备13，终端设备13通过通讯接口131接收遥控设备12发送的该编码视频数据。As shown in FIG. 13, the terminal device 13 includes a communication interface 131, a processor 132, and a communication interface 133, and the processor 132 may be a general purpose or special purpose processor. The processor 112 in the UAV 11 acquires the video data captured by the photographing device 111, and encodes the video data captured by the photographing device 111 to obtain encoded video data, and the processor 112 in the UAV 11 passes through the communication interface 113. The remote control device 12 transmits the encoded video data, and the communication interface 121 of the remote control device 12 receives the encoded video data sent by the unmanned aerial vehicle 11, and the remote control device 12 further transparently transmits the encoded video data to the terminal device 13, and the terminal device 13 passes through the communication interface. 131 receives the encoded video data transmitted by the remote control device 12.
可选的，该编码视频数据从无人飞行器11传输到终端设备13的过程中不经过缓冲器的缓存。Optionally, the encoded video data is not buffered by the buffer during transmission from the UAV 11 to the terminal device 13.
步骤S1202、通过处理器对所述编码视频数据进行解码得到所述视频数据。 Step S1202: Decoding the encoded video data by a processor to obtain the video data.
终端设备13通过通讯接口131接收遥控设备12发送的该编码视频数据之后，终端设备13通过处理器132对该编码视频数据进行解码得到解码后的视频数据，处理器132对该编码视频数据解码之后，进一步确定解码后的视频数据中的帧类型，可选的，解码后的视频数据中的帧类型包括：I帧、P帧、B帧。After the terminal device 13 receives the encoded video data sent by the remote control device 12 through the communication interface 131, the terminal device 13 decodes the encoded video data by the processor 132 to obtain decoded video data, and the processor 132 decodes the encoded video data. The frame type in the decoded video data is further determined. Optionally, the frame types in the decoded video data include: an I frame, a P frame, and a B frame.
步骤S1203、通过处理器丢弃所述视频数据中的预设类型的图像帧。Step S1203: Discard the preset type of image frame in the video data by using a processor.
所述预设类型的图像帧至少包括双向预测编码帧和前向预测编码帧中的一种。The preset type of image frame includes at least one of a bidirectional predictive coding frame and a forward predictive coding frame.
终端设备13通过处理器132丢弃所述视频数据中的预设类型的图像帧，例如丢弃B帧，其具体过程与处理器112丢弃预设类型的图像帧例如B帧的过程一致，此处不再赘述。The terminal device 13 discards the preset type of image frame in the video data by the processor 132, for example, discards the B frame, and the specific process is consistent with the process of the processor 112 discarding the preset type of image frame, for example, the B frame. Let me repeat.
步骤S1204、通过处理器对丢弃预设类型的图像帧后的视频数据进行编码。Step S1204: The video data after discarding the preset type of image frame is encoded by the processor.
终端设备13通过处理器132对上述步骤中丢弃B帧后的视频数据进行编码，可以理解，终端设备13通过处理器132将丢弃B帧后的视频数据编码为多种格式的视频数据，可选的，处理器132将丢弃B帧后的视频数据编码为RTMP格式的视频数据。The terminal device 13 encodes the video data after the B frame is discarded in the foregoing step by the processor 132. It can be understood that the terminal device 13 encodes the video data after the B frame is discarded into the video data of multiple formats by the processor 132. The processor 132 encodes the video data after the B frame is discarded into the video data in the RTMP format.
步骤S1205、通过处理器向流媒体服务器发送编码后的视频数据。Step S1205: The encoded video data is sent to the streaming server by the processor.
终端设备13通过处理器132向基站14发送编码后的视频数据例如RTMP格式的视频数据，基站14将该编码后的视频数据透传给流媒体服务器17，具体的，处理器132控制通讯接口133向基站14发送编码后的视频数据。在本实施例中，终端设备13具体可以是移动终端，例如智能手机，该智能手机上安装有应用程序，该应用程序对应有用户界面，用户可以通过对该用户界面进行操作控制智能手机实时的向基站发送编码后的视频数据。The terminal device 13 transmits the encoded video data, such as video data in the RTMP format, to the base station 14 through the processor 132. The base station 14 transparently transmits the encoded video data to the streaming media server 17. Specifically, the processor 132 controls the communication interface 133. The encoded video data is transmitted to the base station 14. In this embodiment, the terminal device 13 may be a mobile terminal, such as a smart phone. The smart phone is installed with an application program, and the application program has a user interface, and the user can control the smart phone in real time by operating the user interface. The encoded video data is transmitted to the base station.
另外，在步骤S1203通过处理器丢弃所述视频数据中的预设类型的图像帧之后，所述方法还包括：通过所述处理器将丢弃预设类型的图像帧后的视频数据中的每一帧图像划分成多个片元；相应的，步骤S1204通过处理器对丢弃预设类型的图像帧后的视频数据进行编码包括：通过所述处理器对所述视频数据中每一帧图像划分得到的片元进行编码；步骤 S1205通过处理器向流媒体服务器发送编码后的视频数据包括：通过所述处理器向流媒体服务器发送每一个编码后的片元。In addition, after the processor discards the preset type of image frame in the video data in step S1203, the method further includes: discarding, by the processor, each of the video data after the preset type of image frame is discarded. The frame image is divided into a plurality of slices; correspondingly, the encoding, by the processor, the video data after discarding the preset type of the image frame by the processor includes: dividing, by the processor, the image of each frame in the video data Chips are encoded; steps S1205, by the processor, sending the encoded video data to the streaming server, includes: sending, by the processor, each encoded fragment to the streaming server.
处理器132丢弃B帧，对丢弃B帧后的视频数据中的每一帧图像划分成多个片元，以及对每一帧图像划分得到的片元进行编码的具体原理和实现方式均与图4所示实施例类似，此处不再赘述。终端设备13通过处理器132向基站14发送每一个编码后的片元，基站14将每一个编码后的片元透传给流媒体服务器17，具体的，处理器132控制通讯接口133向基站14发送每一个编码后的片元。The processor 132 discards the B frame, divides each frame image of the video data after the B frame is discarded into a plurality of slices, and encodes the fragmented image of each frame into a specific principle and implementation manner. The embodiment shown in FIG. 4 is similar and will not be described again here. The terminal device 13 transmits each encoded fragment to the base station 14 through the processor 132. The base station 14 transparently transmits each encoded fragment to the streaming server 17. Specifically, the processor 132 controls the communication interface 133 to the base station 14. Send each encoded fragment.
此外，在通过处理器132对所述编码视频数据进行解码之前，所述编码视频数据不经过缓冲器的缓存；或者在通过处理器132向流媒体服务器17发送编码后的视频数据之前，所述编码后的视频数据不经过缓存器缓存。所述缓冲器为处理器132内部的缓冲器。所述缓冲器为处理器132外部的缓冲器。Moreover, the encoded video data does not pass through the buffer of the buffer prior to decoding the encoded video data by the processor 132; or prior to transmitting the encoded video data to the streaming server 17 by the processor 132, The encoded video data is not buffered by the buffer. The buffer is a buffer internal to processor 132. The buffer is a buffer external to the processor 132.
本实施例通过终端设备接收遥控设备发送的编码视频数据，对该编码视频数据解码后丢弃预设类型的图像帧，对丢弃预设类型的图像帧后的视频数据进行编码，并将编码后的视频数据发送给流媒体服务器，通过对预设类型的图像帧进行丢弃，减少了视频编码的运算量，同时减少了编码后的视频数据的传输量，既节省了终端设备的视频编码时间，又节省了编码后的视频数据从终端设备到流媒体服务器的传输时间，另外，还节省了远端设备解码视频数据的时间，以及降低了远端设备解码视频数据的复杂度，从而缩短了视频直播的时延。另外，终端设备在对该编码视频数据进行解码之前，该编码视频数据不经过缓冲器的缓存；或者终端设备在向流媒体服务器发送所述编码后的视频数据之前，编码后的视频数据不经过缓存器缓存，避免由于终端设备对视频数据的缓存而增加视频直播的时延，进一步缩短了视频直播的时延。In this embodiment, the terminal device receives the encoded video data sent by the remote control device, decodes the encoded video data, discards the preset type of image frame, and encodes the video data after discarding the preset type of image frame, and encodes the encoded video data. The video data is sent to the streaming media server, and the video frame of the preset type is discarded, thereby reducing the amount of video encoding, and reducing the transmission amount of the encoded video data, thereby saving the video encoding time of the terminal device, and The transmission time of the encoded video data from the terminal device to the streaming media server is saved, and the time for the remote device to decode the video data is saved, and the complexity of decoding the video data by the remote device is reduced, thereby shortening the live video. Delay. In addition, before decoding the encoded video data, the terminal device does not pass the buffer of the buffer; or the terminal device does not pass the encoded video data before transmitting the encoded video data to the streaming server. The buffer cache avoids the delay of video live broadcast due to the buffering of the video data by the terminal device, thereby further shortening the delay of the live video broadcast.
本发明实施例提供一种视频传输的方法。图14为本发明实施例提供的视频传输的方法的流程图。本发明实施例提供的视频传输的方法应用于与遥控设备连接的终端设备，如图14所示，本实施例中的方法，可以包括： Embodiments of the present invention provide a method for video transmission. FIG. 14 is a flowchart of a method for video transmission according to an embodiment of the present invention. The method for the video transmission provided by the embodiment of the present invention is applied to the terminal device connected to the remote control device. As shown in FIG. 14 , the method in this embodiment may include:
步骤S1401、通过通讯接口接收遥控设备发送的编码视频数据，所述编码视频数据是对无人飞行器搭载的拍摄设备拍摄的视频数据进行编码得到的。Step S1401: Receive encoded video data sent by the remote control device through a communication interface, where the encoded video data is obtained by encoding video data captured by a shooting device mounted on the UAV.
本实施例方法的执行主体可以是与遥控设备连接的终端设备。The execution body of the method of this embodiment may be a terminal device connected to the remote control device.
如图13所示，终端设备13包括通讯接口131、处理器132和通讯接口133，处理器132可以是通用或者专用处理器。无人飞行器11内的处理器112获取拍摄设备111拍摄到的视频数据，并对拍摄设备111拍摄到的视频数据进行编码得到编码视频数据，无人飞行器11内的处理器112通过通讯接口113向遥控设备12发送该编码视频数据，遥控设备12的通讯接口121接收无人飞行器11发送的该编码视频数据，遥控设备12进一步将该编码视频数据透传给终端设备13，终端设备13通过通讯接口131接收遥控设备12发送的该编码视频数据。As shown in FIG. 13, the terminal device 13 includes a communication interface 131, a processor 132, and a communication interface 133, and the processor 132 may be a general purpose or special purpose processor. The processor 112 in the UAV 11 acquires the video data captured by the photographing device 111, and encodes the video data captured by the photographing device 111 to obtain encoded video data, and the processor 112 in the UAV 11 passes through the communication interface 113. The remote control device 12 transmits the encoded video data, and the communication interface 121 of the remote control device 12 receives the encoded video data sent by the unmanned aerial vehicle 11, and the remote control device 12 further transparently transmits the encoded video data to the terminal device 13, and the terminal device 13 passes through the communication interface. 131 receives the encoded video data transmitted by the remote control device 12.
可选的，该编码视频数据从无人飞行器11传输到终端设备13的过程中不经过缓冲器的缓存。Optionally, the encoded video data is not buffered by the buffer during transmission from the UAV 11 to the terminal device 13.
步骤S1402、通过处理器对所述编码视频数据进行解码得到所述视频数据。Step S1402: Decoding the encoded video data by a processor to obtain the video data.
终端设备13通过通讯接口131接收遥控设备12发送的该编码视频数据之后，终端设备13通过处理器132对该编码视频数据进行解码得到解码后的视频数据。After the terminal device 13 receives the encoded video data sent by the remote control device 12 through the communication interface 131, the terminal device 13 decodes the encoded video data by the processor 132 to obtain decoded video data.
步骤S1403、通过处理器对所述视频数据进行编码。Step S1403: Encode the video data by a processor.
终端设备13通过处理器132对上述步骤解码得到的视频数据进行编码,可以理解，终端设备13通过处理器132将上述步骤解码得到的视频数据编码为多种格式的视频数据，可选的，处理器132将该视频数据编码为RTMP格式的视频数据。The terminal device 13 encodes the video data obtained by the above step decoding by the processor 132. It can be understood that the terminal device 13 encodes the video data decoded by the above step into video data of multiple formats by the processor 132, optionally, processing. The unit 132 encodes the video data into video data in an RTMP format.
步骤S1404、通过处理器向流媒体服务器发送编码后的视频数据。Step S1404: The encoded video data is sent to the streaming server by the processor.
终端设备13通过处理器132向基站14发送编码后的视频数据例如RTMP格式的视频数据，基站14将该编码后的视频数据透传给流媒体服务器17，具体的，处理器132控制通讯接口133向基站14发送编码后的视频数据。The terminal device 13 transmits the encoded video data, such as video data in the RTMP format, to the base station 14 through the processor 132. The base station 14 transparently transmits the encoded video data to the streaming media server 17. Specifically, the processor 132 controls the communication interface 133. The encoded video data is transmitted to the base station 14.
可以理解，终端设备13与基站14之间可通过多种网络协议进行通 信。预设网络协议可为多种网络协议中的一种或几种。终端设备13根据预设网络协议与基站14进行通信，确保编码后的视频数据传输的准确性。It can be understood that the terminal device 13 and the base station 14 can communicate through various network protocols. letter. The preset network protocol can be one or more of a variety of network protocols. The terminal device 13 communicates with the base station 14 according to a preset network protocol to ensure the accuracy of the encoded video data transmission.
在某些实施方式中，预设网络协议包括RTMP网络协议。In some embodiments, the preset network protocol includes an RTMP network protocol.
可以理解，RTMP网络协议是一种实时消息传输协议。使用RTMP网络协议进行视频数据的传输可以将视频实时传输至流媒体服务器17，远端设备16也可以实时获取到视频数据。It can be understood that the RTMP network protocol is a real-time message transmission protocol. The video data transmission using the RTMP network protocol can transmit the video to the streaming server 17 in real time, and the remote device 16 can also acquire the video data in real time.
其中，在通过处理器132对所述编码视频数据进行解码之前，所述编码视频数据不经过缓冲器的缓存；或者在通过处理器132向流媒体服务器17发送编码后的视频数据之前，所述编码后的视频数据不经过缓存器缓存。Wherein, before the encoded video data is decoded by the processor 132, the encoded video data does not pass through a buffer of the buffer; or before the encoded video data is transmitted to the streaming server 17 by the processor 132, The encoded video data is not buffered by the buffer.
可选的，所述缓冲器为处理器132内部的缓冲器。或者，所述缓冲器为处理器132外部的缓冲器。Optionally, the buffer is a buffer inside the processor 132. Alternatively, the buffer is a buffer external to processor 132.
进一步的，所述方法还包括：通过处理器丢弃所述视频数据中的预设类型的图像帧；所述视频数据即为步骤S1402中通过处理器对所述编码视频数据进行解码得到的视频数据。相应的，步骤S1403通过处理器对所述视频数据进行编码包括：通过处理器对丢弃预设类型的图像帧后的视频数据进行编码。可选的，所述预设类型的图像帧至少包括双向预测编码帧和前向预测编码帧中的一种。例如，终端设备13通过处理器132对所述编码视频数据进行解码得到的视频数据包括I帧、P帧、B帧，处理器132丢弃解码得到的视频数据中的B帧，对丢弃B帧后的视频数据进行编码的具体原理和实现方式均与图2所示实施例类似，此处不再赘述。Further, the method further includes: discarding, by the processor, an image frame of a preset type in the video data; the video data is video data obtained by decoding the encoded video data by a processor in step S1402. . Correspondingly, the step S1403, by the processor, encoding the video data comprises: encoding, by the processor, the video data after discarding the preset type of image frame. Optionally, the preset type of image frame includes at least one of a bidirectional predictive coding frame and a forward predictive coding frame. For example, the video data obtained by the terminal device 13 by decoding the encoded video data by the processor 132 includes an I frame, a P frame, and a B frame, and the processor 132 discards the B frame in the decoded video data, and discards the B frame. The specific principles and implementations of the video data encoding are similar to the embodiment shown in FIG. 2, and details are not described herein again.
在其他实施例中，所述方法还包括：通过处理器将所述视频数据中的每一帧图像划分成多个片元；所述视频数据即为步骤S1402中通过处理器对所述编码视频数据进行解码得到的视频数据。相应的，步骤S1403通过处理器对所述视频数据进行编码包括：通过处理器对所述视频数据中每一帧图像划分得到的片元进行编码；步骤S1404通过处理器向流媒体服务器发送编码后的视频数据包括：通过处理器向流媒体服务器发送每一个编码后的片元。处理器132将视频数据中的每一帧图像划分成多个片元，对划分得到的片元进行编码的具体原理和实现方式均与图4所示实施例类似，此处不再赘述。终端设备13通过处理器132向基站14发送每一 个编码后的片元，基站14将每一个编码后的片元透传给流媒体服务器17，具体的，处理器132控制通讯接口133向基站14发送每一个编码后的片元。In other embodiments, the method further includes: dividing, by the processor, each frame image in the video data into a plurality of tiles; the video data is the encoded video by the processor in step S1402. The video data obtained by decoding the data. Correspondingly, the step S1403, by the processor, encoding the video data comprises: encoding, by the processor, a fragment obtained by dividing each frame image in the video data; and sending the encoding to the streaming server by using the processor. The video data includes: sending each encoded fragment to the streaming server through the processor. The processor 132 divides the image of each frame in the video data into a plurality of slices, and the specific principles and implementations of encoding the divided segments are similar to the embodiment shown in FIG. 4, and details are not described herein again. The terminal device 13 transmits each to the base station 14 through the processor 132. After the encoded fragment, the base station 14 transparently transmits each encoded fragment to the streaming server 17. Specifically, the processor 132 controls the communication interface 133 to send each encoded fragment to the base station 14.
本实施例通过终端设备对遥控设备发送的编码视频数据进行解码之前，该编码视频数据不经过缓冲器的缓存；或者终端设备在向流媒体服务器发送该终端设备编码后的视频数据之前，编码后的视频数据不经过缓存器缓存，避免由于终端设备对视频数据的缓存而增加视频直播的时延，缩短了视频直播的时延。另外，通过终端设备接收遥控设备发送的编码视频数据，对该编码视频数据进行解码，并对解码后的视频数据中的预设类型的图像帧进行丢弃，对丢弃预设类型的图像帧后的视频数据进行编码，并将编码后的视频数据发送给流媒体服务器，通过对预设类型的图像帧进行丢弃，减少了视频编码的运算量，同时减少了编码后的视频数据的传输量，既节省了终端设备的视频编码时间，又节省了编码后的视频数据从终端设备到流媒体服务器的传输时间，另外，还节省了远端设备解码视频数据的时间，以及降低了远端设备解码视频数据的复杂度，进一步缩短了视频直播的时延。In this embodiment, before the encoded video data sent by the remote control device is decoded by the terminal device, the encoded video data does not pass through the buffer of the buffer; or the terminal device sends the encoded video data of the terminal device to the streaming media server before encoding. The video data is not buffered by the buffer, which avoids the delay of the live video broadcast due to the buffering of the video data by the terminal device, and shortens the delay of the live video broadcast. In addition, the encoded video data sent by the remote control device is received by the terminal device, the encoded video data is decoded, and the preset type of image frame in the decoded video data is discarded, and the image frame of the preset type is discarded. The video data is encoded, and the encoded video data is sent to the streaming media server, and the image frame of the preset type is discarded, thereby reducing the computation amount of the video encoding and reducing the transmission amount of the encoded video data. The video encoding time of the terminal device is saved, and the transmission time of the encoded video data from the terminal device to the streaming media server is saved, and the time for the remote device to decode the video data is saved, and the remote device decodes the video. The complexity of the data further reduces the delay of live video.
本发明实施例提供一种视频传输的方法。图15为本发明实施例提供的视频传输的方法的流程图。本发明实施例提供的视频传输的方法应用于流媒体服务器，如图15所示，本实施例中的方法，可以包括：Embodiments of the present invention provide a method for video transmission. FIG. 15 is a flowchart of a method for video transmission according to an embodiment of the present invention. The method for video transmission provided by the embodiment of the present invention is applied to a streaming media server. As shown in FIG. 15 , the method in this embodiment may include:
步骤S1501、通过通讯接口接收终端设备发送的编码视频数据,所述编码视频数据是对无人飞行器搭载的拍摄设备拍摄的视频数据进行编码得到的。Step S1501: Receive encoded video data sent by the terminal device through a communication interface, where the encoded video data is obtained by encoding video data captured by a photographing device mounted on the unmanned aerial vehicle.
本实施例方法的执行主体可以是流媒体服务器。The execution body of the method of this embodiment may be a streaming media server.
如图16所示，流媒体服务器17包括通讯接口171、处理器172和通讯接口173，处理器172可以是通用或者专用处理器。无人飞行器11内的处理器112获取拍摄设备111拍摄到的视频数据，并对拍摄设备111拍摄到的视频数据进行编码得到编码视频数据，无人飞行器11内的处理器112通过通讯接口113向遥控设备12发送该编码视频数据，遥控设备12的通讯接口121接收无人飞行器11发送的该编码视频数据，遥控设备12进一 步将该编码视频数据透传给终端设备13，终端设备13通过通讯接口131接收遥控设备12发送的该编码视频数据。终端设备13进一步通过基站14将该编码视频数据透传给流媒体服务器17，流媒体服务器17通过通讯接口171接收基站14转发的该编码视频数据。As shown in FIG. 16, the streaming server 17 includes a communication interface 171, a processor 172, and a communication interface 173, and the processor 172 can be a general purpose or special purpose processor. The processor 112 in the UAV 11 acquires the video data captured by the photographing device 111, and encodes the video data captured by the photographing device 111 to obtain encoded video data, and the processor 112 in the UAV 11 passes through the communication interface 113. The remote control device 12 transmits the encoded video data, and the communication interface 121 of the remote control device 12 receives the encoded video data sent by the unmanned aerial vehicle 11, and the remote control device 12 enters a The encoded video data is transparently transmitted to the terminal device 13, and the terminal device 13 receives the encoded video data sent by the remote control device 12 through the communication interface 131. The terminal device 13 further transparently transmits the encoded video data to the streaming server 17 via the base station 14, and the streaming server 17 receives the encoded video data forwarded by the base station 14 via the communication interface 171.
可选的，该编码视频数据从无人飞行器11传输到流媒体服务器17的过程中不经过缓冲器的缓存。Optionally, the encoded video data is not buffered by the buffer during transmission from the UAV 11 to the streaming server 17.
可以理解，基站14与流媒体服务器17之间可通过多种网络协议进行通信。预设网络协议可为多种网络协议中的一种或几种。基站14根据预设网络协议与流媒体服务器17进行通信，确保视频数据传输的准确性。It will be appreciated that the base station 14 and the streaming server 17 can communicate via a variety of network protocols. The preset network protocol can be one or more of a variety of network protocols. The base station 14 communicates with the streaming server 17 in accordance with a predetermined network protocol to ensure the accuracy of video data transmission.
在某些实施方式中，预设网络协议包括RTMP网络协议。In some embodiments, the preset network protocol includes an RTMP network protocol.
可以理解，RTMP网络协议是一种实时消息传输协议。使用RTMP网络协议进行视频数据的传输可以将视频实时传输至流媒体服务器17，远端设备16也可以实时获取到视频数据。在本实施例中，流媒体服务器17通过通讯接口171接收到的基站14转发的该编码视频数据具体可以是RTMP格式的视频数据。It can be understood that the RTMP network protocol is a real-time message transmission protocol. The video data transmission using the RTMP network protocol can transmit the video to the streaming server 17 in real time, and the remote device 16 can also acquire the video data in real time. In this embodiment, the encoded video data forwarded by the base station 14 received by the streaming server 17 via the communication interface 171 may specifically be video data in the RTMP format.
步骤S1502、通过处理器对所述编码视频数据进行解码得到所述视频数据。Step S1502: Decoding the encoded video data by a processor to obtain the video data.
流媒体服务器17通过通讯接口171接收基站14转发的编码视频数据之后，流媒体服务器17通过处理器172对该编码视频数据进行解码得到解码后的视频数据，处理器172对该编码视频数据解码之后，进一步确定解码后的视频数据中的帧类型，可选的，解码后的视频数据中的帧类型包括：I帧、P帧、B帧。After the streaming server 17 receives the encoded video data forwarded by the base station 14 through the communication interface 171, the streaming server 17 decodes the encoded video data by the processor 172 to obtain decoded video data, and the processor 172 decodes the encoded video data. The frame type in the decoded video data is further determined. Optionally, the frame types in the decoded video data include: an I frame, a P frame, and a B frame.
步骤S1503、通过处理器丢弃所述视频数据中的预设类型的图像帧。Step S1503: Discard the preset type of image frame in the video data by using a processor.
所述预设类型的图像帧至少包括双向预测编码帧和前向预测编码帧中的一种。The preset type of image frame includes at least one of a bidirectional predictive coding frame and a forward predictive coding frame.
流媒体服务器17通过处理器172丢弃所述视频数据中的预设类型的图像帧，例如，丢弃B帧，其具体过程与处理器112丢弃预设类型的图像帧例如B帧的过程一致，此处不再赘述。The streaming media server 17 discards the preset type of image frames in the video data by the processor 172, for example, discarding the B frames, the specific process of which is consistent with the process of the processor 112 discarding the preset type of image frames, such as B frames. I won't go into details here.
步骤S1504、通过处理器对丢弃预设类型的图像帧后的视频数据进行编码。 Step S1504: The video data after discarding the preset type of image frame is encoded by the processor.
流媒体服务器17通过处理器172对上述步骤中丢弃B帧后的视频数据进行编码，可以理解，流媒体服务器17通过处理器172将丢弃B帧后的视频数据编码为多种格式的视频数据，处理器172编码后的视频数据的格式可以由远端设备16的类型确定，可以理解，远端设备16可能包括多种设备，例如IOS系统的设备、安卓系统的设备等，IOS系统的设备和安卓系统的设备可支持的视频数据的格式不同，IOS系统的设备如苹果手机、苹果电脑等支持HLS格式的视频数据，安卓系统的设备如使用安卓系统的手机、使用Windows系统的电脑等支持RTMP及M3U8格式的视频数据，若远端设备16为IOS系统的设备如苹果手机、苹果电脑等，则流媒体服务器17可通过处理器172将丢弃B帧后的视频数据编码为HLS格式的视频数据。The streaming media server 17 encodes the video data after the B frame is discarded in the foregoing step by the processor 172. It can be understood that the streaming media server 17 encodes the video data after the B frame is discarded into the video data of multiple formats by the processor 172. The format of the video data encoded by the processor 172 may be determined by the type of the remote device 16. It may be understood that the remote device 16 may include multiple devices, such as devices of the IOS system, devices of the Android system, etc., devices of the IOS system, and Android devices can support different formats of video data. iOS devices such as Apple phones and Apple computers support HLS format video data. Android devices such as Android phones, Windows systems, etc. support RTMP. And the video data of the M3U8 format, if the remote device 16 is a device of the IOS system, such as an Apple mobile phone, an Apple computer, or the like, the streaming media server 17 may encode the video data after the B frame is discarded by the processor 172 into the video data of the HLS format. .
步骤S1505、通过处理器向远端设备发送编码后的视频数据。Step S1505: The encoded video data is sent to the remote device by the processor.
流媒体服务器17通过处理器172向远端设备16发送编码后的视频数据例如HLS格式的视频数据，具体包括如下几种可行的实现方式：The streaming media server 17 sends the encoded video data, such as video data in the HLS format, to the remote device 16 through the processor 172, and specifically includes the following feasible implementation manners:
一种可行的实现方式是：处理器172控制通讯接口173向远端设备16发送编码后的视频数据例如HLS格式的视频获取地址。One possible implementation is that the processor 172 controls the communication interface 173 to transmit the encoded video data, such as the video acquisition address in the HLS format, to the remote device 16.
另一种可行的实现方式是：处理器172对丢弃B帧的视频数据进行编码后，处理器172控制通讯接口173向服务器18发送编码后的视频数据对应的视频获取地址例如HLS格式的视频获取地址，再由服务器18将HLS格式的视频获取地址发送给远端设备16，远端设备16例如IOS系统的设备根据该HLS格式的视频获取地址从流媒体服务器17中获取HLS格式的视频数据。Another possible implementation manner is: after the processor 172 encodes the video data of the discarded B frame, the processor 172 controls the communication interface 173 to send the video acquisition address corresponding to the encoded video data to the server 18, for example, the video acquisition in the HLS format. The address is sent by the server 18 to the remote device 16 in the HLS format. The device of the remote device 16, for example, the IOS system, obtains the video data in the HLS format from the streaming server 17 according to the video acquisition address of the HLS format.
在某些实施方式中，视频获取地址包括一种或多种格式，远端设备16根据该视频获取地址从流媒体服务器17中获取编码后的视频数据包括：远端设备16根据一种格式的视频获取地址或多种格式的视频获取地址中的一种从流媒体服务器17中获取编码后的视频数据。In some embodiments, the video acquisition address includes one or more formats, and the remote device 16 obtains the encoded video data from the streaming server 17 according to the video acquisition address, including: the remote device 16 according to a format. The video acquisition address or one of a plurality of formats of video acquisition addresses acquires the encoded video data from the streaming server 17.
可以理解，远端设备16可能包括多种设备，例如IOS系统的设备、安卓系统的设备等，因此远端设备16与流媒体服务器17之间的视频获取地址的格式也具有多种。如此，流媒体服务器17发送多种格式的视频获取地址，则对远端设备16的选择自由性更大，也即是说，各种类型的远 端设备16均可以根据对应格式的视频获取地址获取视频数据。It can be understood that the remote device 16 may include multiple devices, such as devices of the IOS system, devices of the Android system, etc., and thus the format of the video acquisition address between the remote device 16 and the streaming media server 17 is also various. In this way, the streaming media server 17 sends the video acquisition addresses in multiple formats, so that the selection freedom of the remote device 16 is greater, that is, various types of far-reaching Each of the end devices 16 can acquire video data according to a video acquisition address of a corresponding format.
在某些实施方式中，视频获取地址的格式包括HLS、RTMP及M3U8三种格式。其中，HLS格式的视频获取地址适用于IOS系统的设备，如苹果手机、苹果电脑等。RTMP及M3U8格式的视频获取地址适用于非IOS系统的设备，如使用安卓系统的手机、使用Windows系统的电脑等。In some embodiments, the format of the video acquisition address includes three formats: HLS, RTMP, and M3U8. Among them, the video acquisition address in the HLS format is applicable to devices of the IOS system, such as an Apple mobile phone, an Apple computer, and the like. RTMP and M3U8 format video capture addresses are available for non-IOS devices, such as Android phones, Windows computers, and more.
可以理解，远端设备16与服务器18之间可通过多种网络协议进行通信。预设网络协议为多种网络协议中的一种或几种。可选的，预设网络协议包括Websocket网络协议。远端设备16通过Websocket网络协议向服务器18发送获取视频数据的指令，服务器18根据该获取视频数据的指令向远端设备16反馈视频获取地址，远端设备16根据该视频获取地址从流媒体服务器17中获取编码后的视频数据。It will be appreciated that communication between the remote device 16 and the server 18 can be through a variety of network protocols. The preset network protocol is one or more of a variety of network protocols. Optionally, the preset network protocol includes a Websocket network protocol. The remote device 16 sends an instruction for acquiring video data to the server 18 through the Websocket network protocol, and the server 18 feeds back the video acquisition address to the remote device 16 according to the instruction for acquiring the video data, and the remote device 16 obtains the address from the streaming media server according to the video. The encoded video data is obtained in 17.
在其他实施例中，在通过处理器丢弃所述视频数据中的预设类型的图像帧之后，所述方法还包括：通过所述处理器将丢弃预设类型的图像帧后的视频数据中的每一帧图像划分成多个片元；相应的，步骤S1504通过处理器对丢弃预设类型的图像帧后的视频数据进行编码包括：通过所述处理器对所述视频数据中每一帧图像划分得到的片元进行编码；步骤S1505通过处理器向远端设备发送编码后的视频数据包括：通过所述处理器向远端设备发送每一个编码后的片元。In other embodiments, after discarding the preset type of image frame in the video data by the processor, the method further includes: discarding, by the processor, the video data after the preset type of image frame is discarded Each frame of the image is divided into a plurality of slices; correspondingly, the step S1504, by the processor, encoding the video data after discarding the preset type of image frame comprises: using the processor to image each frame of the video data And dividing the obtained fragment into encoding; and sending, by the processor, the encoded video data to the remote device by using the processor includes: sending, by the processor, each encoded fragment to the remote device.
处理器172丢弃B帧，对丢弃B帧后的视频数据中的每一帧图像划分成多个片元，以及对每一帧图像划分得到的片元进行编码的具体原理和实现方式均与图4所示实施例类似，此处不再赘述。流媒体服务器17通过处理器172向远端设备16发送每一个编码后的片元，具体的，处理器172控制通讯接口173向远端设备16发送每一个编码后的片元。The processor 172 discards the B frame, divides each frame image of the video data after the B frame is discarded into a plurality of slices, and encodes the fragment obtained by dividing each frame image into a specific principle and implementation manner. The embodiment shown in FIG. 4 is similar and will not be described again here. The streaming server 17 transmits each encoded fragment to the remote device 16 via the processor 172. Specifically, the processor 172 controls the communication interface 173 to transmit each encoded fragment to the remote device 16.
此外，在通过处理器172对所述编码视频数据进行解码之前，所述编码视频数据不经过缓冲器的缓存；或者在通过处理器172向远端设备16发送编码后的视频数据之前，所述编码后的视频数据不经过缓存器缓存。可选的，所述缓冲器为处理器172内部的缓冲器。或者，所述缓冲器为处理器172外部的缓冲器。Moreover, the encoded video data does not pass through the buffer of the buffer prior to decoding the encoded video data by the processor 172; or prior to transmitting the encoded video data to the remote device 16 by the processor 172, The encoded video data is not buffered by the buffer. Optionally, the buffer is a buffer inside the processor 172. Alternatively, the buffer is a buffer external to processor 172.
本实施例通过流媒体服务器接收终端设备发送的编码视频数据，对该编码视频数据解码后丢弃预设类型的图像帧，对丢弃预设类型的图像 帧后的视频数据进行编码，并将编码后的视频数据发送给远端设备，通过对预设类型的图像帧进行丢弃，减少了视频编码的运算量，同时减少了编码后的视频数据的传输量，既节省了流媒体服务器的视频编码时间，又节省了编码后的视频数据从流媒体服务器到远端设备的传输时间，另外，还节省了远端设备解码视频数据的时间，以及降低了远端设备解码视频数据的复杂度，从而缩短了视频直播的时延。另外，流媒体服务器在对该编码视频数据进行解码之前，该编码视频数据不经过缓冲器的缓存；或者流媒体服务器在向远端设备发送所述编码后的视频数据之前，编码后的视频数据不经过缓存器缓存，避免由于流媒体服务器对视频数据的缓存而增加视频直播的时延，进一步缩短了视频直播的时延。In this embodiment, the encoded video data sent by the terminal device is received by the streaming media server, and the encoded video data is decoded, and the preset type of image frame is discarded, and the preset type of image is discarded. The video data after the frame is encoded, and the encoded video data is sent to the remote device, and the image frame of the preset type is discarded, thereby reducing the computation amount of the video coding and reducing the transmission of the encoded video data. The quantity saves the video encoding time of the streaming media server, saves the transmission time of the encoded video data from the streaming media server to the remote device, and saves the time for the remote device to decode the video data, and reduces the time. The complexity of the video data decoded by the remote device shortens the delay of live video. In addition, before the streaming media server decodes the encoded video data, the encoded video data does not pass through the buffer of the buffer; or the streaming media server sends the encoded video data to the remote device before the encoded video data. The buffer cache is not used to avoid the delay of the live video broadcast due to the buffering of the video data by the streaming media server, thereby further shortening the delay of the live video broadcast.
本发明实施例提供一种视频传输的方法。图17为本发明实施例提供的视频传输的方法的流程图。本发明实施例提供的视频传输的方法应用于流媒体服务器，如图17所示，本实施例中的方法，可以包括：Embodiments of the present invention provide a method for video transmission. FIG. 17 is a flowchart of a method for video transmission according to an embodiment of the present invention. The method for video transmission provided by the embodiment of the present invention is applied to a streaming media server. As shown in FIG. 17, the method in this embodiment may include:
步骤S1701、通过通讯接口接收终端设备发送的编码视频数据，所述编码视频数据是对无人飞行器搭载的拍摄设备拍摄的视频数据进行编码得到的。Step S1701: Receive encoded video data sent by the terminal device through a communication interface, where the encoded video data is obtained by encoding video data captured by a photographing device mounted on the UAV.
本实施例方法的执行主体可以是流媒体服务器。The execution body of the method of this embodiment may be a streaming media server.
如图16所示，流媒体服务器17包括通讯接口171、处理器172和通讯接口173，处理器172可以是通用或者专用处理器。无人飞行器11内的处理器112获取拍摄设备111拍摄到的视频数据，并对拍摄设备111拍摄到的视频数据进行编码得到编码视频数据，无人飞行器11内的处理器112通过通讯接口113向遥控设备12发送该编码视频数据，遥控设备12的通讯接口121接收无人飞行器11发送的该编码视频数据，遥控设备12进一步将该编码视频数据透传给终端设备13，终端设备13通过通讯接口131接收遥控设备12发送的该编码视频数据。终端设备13进一步通过基站14将该编码视频数据透传给流媒体服务器17，流媒体服务器17通过通讯接口171接收基站14转发的该编码视频数据。As shown in FIG. 16, the streaming server 17 includes a communication interface 171, a processor 172, and a communication interface 173, and the processor 172 can be a general purpose or special purpose processor. The processor 112 in the UAV 11 acquires the video data captured by the photographing device 111, and encodes the video data captured by the photographing device 111 to obtain encoded video data, and the processor 112 in the UAV 11 passes through the communication interface 113. The remote control device 12 transmits the encoded video data, and the communication interface 121 of the remote control device 12 receives the encoded video data sent by the unmanned aerial vehicle 11, and the remote control device 12 further transparently transmits the encoded video data to the terminal device 13, and the terminal device 13 passes through the communication interface. 131 receives the encoded video data transmitted by the remote control device 12. The terminal device 13 further transparently transmits the encoded video data to the streaming server 17 via the base station 14, and the streaming server 17 receives the encoded video data forwarded by the base station 14 via the communication interface 171.
可选的，该编码视频数据从无人飞行器11传输到流媒体服务器17的 过程中不经过缓冲器的缓存。在本实施例中，流媒体服务器17通过通讯接口171接收到的基站14转发的该编码视频数据具体可以是RTMP格式的视频数据。Optionally, the encoded video data is transmitted from the UAV 11 to the streaming server 17 The buffer is not buffered during the process. In this embodiment, the encoded video data forwarded by the base station 14 received by the streaming server 17 via the communication interface 171 may specifically be video data in the RTMP format.
步骤S1702、通过处理器对所述编码视频数据进行解码得到所述视频数据。Step S1702: Decoding the encoded video data by a processor to obtain the video data.
可以理解，远端设备16可能包括多种设备，例如IOS系统的设备、安卓系统的设备等，IOS系统的设备和安卓系统的设备可支持的视频数据的格式不同，IOS系统的设备如苹果手机、苹果电脑等支持HLS格式的视频数据，安卓系统的设备如使用安卓系统的手机、使用Windows系统的电脑等支持RTMP及M3U8格式的视频数据。It can be understood that the remote device 16 may include multiple devices, such as devices of the IOS system, devices of the Android system, etc., the formats of the video data supported by the devices of the IOS system and the devices of the Android system are different, and the devices of the IOS system such as the Apple mobile phone. , Apple computers and other video data supporting HLS format, Android devices such as mobile phones using Android, computers using Windows systems, etc. support RTMP and M3U8 format video data.
若远端设备16为IOS系统的设备如苹果手机、苹果电脑等，则流媒体服务器17需要将RTMP格式的视频数据转换为HLS格式的视频数据，具体的，流媒体服务器17通过通讯接口171接收基站14转发的RTMP格式的视频数据之后，流媒体服务器17通过处理器172对RTMP格式的视频数据进行解码得到解码后的视频数据。If the remote device 16 is an IOS system device such as an Apple phone or an Apple computer, the streaming media server 17 needs to convert the RTMP format video data into the HLS format video data. Specifically, the streaming server 17 receives the communication interface 171. After the video data of the RTMP format forwarded by the base station 14, the streaming server 17 decodes the video data of the RTMP format by the processor 172 to obtain the decoded video data.
步骤S1703、通过处理器对所述视频数据进行编码。Step S1703, encoding the video data by a processor.
流媒体服务器17通过处理器172对解码后的视频数据进行编码，例如编码为HLS格式的视频数据。The streaming server 17 encodes the decoded video data by the processor 172, for example, encoded into video data in the HLS format.
步骤S1704、通过处理器向远端设备发送编码后的视频数据。Step S1704: The encoded video data is sent to the remote device by the processor.
流媒体服务器17通过处理器172向远端设备16发送编码后的视频数据例如HLS格式的视频数据，具体的，处理器172控制通讯接口173向远端设备16发送编码后的视频数据例如HLS格式的视频数据。The streaming media server 17 transmits the encoded video data, such as HLS format video data, to the remote device 16 via the processor 172. Specifically, the processor 172 controls the communication interface 173 to transmit the encoded video data, such as the HLS format, to the remote device 16. Video data.
其中，在通过处理器172对所述编码视频数据进行解码之前，所述编码视频数据不经过缓冲器的缓存；或者在通过处理器172向远端设备16发送编码后的视频数据之前，所述编码后的视频数据不经过缓存器缓存。可选的，所述缓冲器为处理器172内部的缓冲器。或者，所述缓冲器为处理器172外部的缓冲器。Wherein, before the encoded video data is decoded by the processor 172, the encoded video data does not pass through a buffer of the buffer; or before the encoded video data is transmitted by the processor 172 to the remote device 16, the The encoded video data is not buffered by the buffer. Optionally, the buffer is a buffer inside the processor 172. Alternatively, the buffer is a buffer external to processor 172.
在其他实施例中，所述方法还包括：通过处理器丢弃所述视频数据中的预设类型的图像帧；所述视频数据即为步骤S1702中通过处理器对所述编码视频数据进行解码得到的视频数据。相应的，步骤S1703通过处理 器对所述视频数据进行编码包括：通过处理器对丢弃预设类型的图像帧后的视频数据进行编码。所述预设类型的图像帧至少包括双向预测编码帧和前向预测编码帧中的一种。例如，流媒体服务器17通过处理器172对所述编码视频数据进行解码得到的视频数据包括I帧、P帧、B帧，处理器172丢弃视频数据中的B帧，对丢弃B帧后的视频数据进行编码的具体原理和实现方式均与图2所示实施例类似，此处不再赘述。In other embodiments, the method further includes: discarding, by the processor, a preset type of image frame in the video data; the video data is obtained by decoding, by the processor, the encoded video data in step S1702. Video data. Correspondingly, step S1703 is processed. The encoding the video data includes: encoding, by the processor, the video data after discarding the preset type of image frame. The preset type of image frame includes at least one of a bidirectional predictive coding frame and a forward predictive coding frame. For example, the video data obtained by the streaming media server 17 by decoding the encoded video data by the processor 172 includes an I frame, a P frame, and a B frame, and the processor 172 discards the B frame in the video data, and discards the video after the B frame. The specific principles and implementations of the data encoding are similar to the embodiment shown in FIG. 2, and details are not described herein again.
在一些实施例中，所述方法还包括：通过处理器将所述视频数据中的每一帧图像划分成多个片元；所述视频数据即为步骤S1702中通过处理器对所述编码视频数据进行解码得到的视频数据。相应的，步骤S1703通过处理器对所述视频数据进行编码包括：通过处理器对所述视频数据中每一帧图像划分得到的片元进行编码；步骤S1704通过处理器向远端设备发送编码后的视频数据包括：通过处理器向远端设备发送每一个编码后的片元。处理器172将视频数据中的每一帧图像划分成多个片元，对划分得到的片元进行编码的具体原理和实现方式均与图4所示实施例类似，此处不再赘述。流媒体服务器17通过处理器172向远端设备16发送每一个编码后的片元，具体的，处理器172控制通讯接口173向远端设备16发送每一个编码后的片元。In some embodiments, the method further includes: dividing, by the processor, each frame image in the video data into a plurality of tiles; the video data is the encoded video by the processor in step S1702 The video data obtained by decoding the data. Correspondingly, the step S1703, the encoding, by the processor, the encoding, by the processor, encoding, by the processor, the fragment obtained by dividing each frame of the video data; and sending the encoding to the remote device by using the processor. The video data includes: transmitting, by the processor, each encoded fragment to a remote device. The processor 172 divides each frame of the video data into a plurality of slices, and the specific principles and implementations of encoding the divided segments are similar to the embodiment shown in FIG. 4, and details are not described herein again. The streaming server 17 transmits each encoded fragment to the remote device 16 via the processor 172. Specifically, the processor 172 controls the communication interface 173 to transmit each encoded fragment to the remote device 16.
本实施例通过流媒体服务器对终端设备发送的编码视频数据进行解码之前，该编码视频数据不经过缓冲器的缓存；或者流媒体服务器在向远端设备发送该流媒体服务器编码后的视频数据之前，编码后的视频数据不经过缓存器缓存，避免由于流媒体服务器对视频数据的缓存而增加视频直播的时延，缩短了视频直播的时延。另外，通过流媒体服务器接收终端设备发送的编码视频数据，对该编码视频数据进行解码，并对解码后的视频数据中的预设类型的图像帧进行丢弃，对丢弃预设类型的图像帧后的视频数据进行编码，并将编码后的视频数据发送给远端设备，通过对预设类型的图像帧进行丢弃，减少了视频编码的运算量，同时减少了编码后的视频数据的传输量，既节省了流媒体服务器的视频编码时间，又节省了编码后的视频数据从流媒体服务器到远端设备的传输时间，另外，还节省了远端设备解码视频数据的时间，以及降低了远端设备解码视频数据的复杂度，进一步缩短了视频直播的时延。 In this embodiment, before the encoded video data sent by the terminal device is decoded by the streaming media server, the encoded video data does not pass through the buffer of the buffer; or the streaming media server sends the video data encoded by the streaming media server before sending the streaming video server to the remote device. The encoded video data is not buffered by the buffer, which avoids the delay of the live video broadcast due to the buffering of the video data by the streaming media server, and shortens the delay of the live video broadcast. In addition, the encoded video data sent by the terminal device is received by the streaming media server, the encoded video data is decoded, and the preset type of image frame in the decoded video data is discarded, and after the preset type of image frame is discarded, The video data is encoded, and the encoded video data is sent to the remote device, and the image frame of the preset type is discarded, thereby reducing the computation amount of the video encoding, and reducing the transmission amount of the encoded video data. It not only saves the video encoding time of the streaming media server, but also saves the transmission time of the encoded video data from the streaming media server to the remote device, and also saves the time for the remote device to decode the video data and reduces the far end. The complexity of decoding video data by the device further shortens the delay of live video.
本发明实施例提供一种视频传输的方法。图18为本发明实施例提供的视频传输的方法的流程图。本发明实施例提供的视频传输的方法应用于与遥控设备连接的终端设备，如图18所示，本实施例中的方法，可以包括：：Embodiments of the present invention provide a method for video transmission. FIG. 18 is a flowchart of a method for video transmission according to an embodiment of the present invention. The method for the video transmission provided by the embodiment of the present invention is applied to the terminal device connected to the remote control device. As shown in FIG. 18, the method in this embodiment may include:
步骤S1801、通过通讯接口接收遥控设备发送的编码视频数据，所述编码视频数据是对无人飞行器搭载的拍摄设备拍摄的视频数据进行编码得到的。Step S1801: Receive encoded video data sent by the remote control device through a communication interface, where the encoded video data is obtained by encoding video data captured by a photographing device mounted on the UAV.
如图13所示，终端设备13通过通讯接口131接收遥控设备12发送的编码视频数据，该编码视频数据具体可以是无人飞行器11内的处理器112对拍摄设备111拍摄到的视频数据进行编码得到的视频数据，也可以是无人飞行器11内的处理器112丢弃拍摄设备111拍摄到的视频数据中的预设类型的图像帧后，对丢弃预设类型的图像帧后的视频数据进行编码得到的视频数据，该编码视频数据经过遥控设备12传输到终端设备13。As shown in FIG. 13, the terminal device 13 receives the encoded video data sent by the remote control device 12 through the communication interface 131. The encoded video data may be specifically encoded by the processor 112 in the UAV 11 to capture the video data captured by the imaging device 111. The obtained video data may also be that after the processor 112 in the UAV 11 discards the preset type of image frame in the video data captured by the photographing device 111, the video data after discarding the preset type of image frame is encoded. The obtained video data is transmitted to the terminal device 13 via the remote control device 12.
步骤S1802、通过处理器将所述编码视频数据发送给流媒体服务器。Step S1802: The encoded video data is sent to the streaming media server by the processor.
在本实施例中，终端设备13的通讯接口131将所述编码视频数据透传至处理器132，处理器132将所述编码视频数据透传至基站14，具体的，处理器132控制通讯接口133将所述编码视频数据透传至基站14，基站14将所述编码视频数据透传至流媒体服务器17。In this embodiment, the communication interface 131 of the terminal device 13 transparently transmits the encoded video data to the processor 132, and the processor 132 transparently transmits the encoded video data to the base station 14. Specifically, the processor 132 controls the communication interface. 133 transparently transmitting the encoded video data to the base station 14, and the base station 14 transparently transmits the encoded video data to the streaming server 17.
其中，在通过通讯接口131接收遥控设备12发送的编码视频数据之后，所述编码视频数据不经过缓冲器的缓存；或者在通过处理器172将所述编码视频数据发送给流媒体服务器17之前，所述编码视频数据不经过缓冲器的缓存。Wherein, after receiving the encoded video data sent by the remote control device 12 through the communication interface 131, the encoded video data does not pass through the buffer of the buffer; or before the encoded video data is transmitted to the streaming server 17 by the processor 172, The encoded video data does not pass through the buffer of the buffer.
所述缓冲器为处理器132内部的缓冲器；或者，所述缓冲器为处理器132外部的缓冲器。The buffer is a buffer internal to processor 132; alternatively, the buffer is a buffer external to processor 132.
本实施例通过终端设备在通过通讯接口接收遥控设备发送的编码视频数据之后，所述编码视频数据不经过缓冲器的缓存；或者在通过处理器将所述编码视频数据发送给流媒体服务器之前，所述编码视频数据不经过缓冲器的缓存，避免由于终端设备对编码视频数据的缓存而增加视频直播的时延。 In this embodiment, after the terminal device receives the encoded video data sent by the remote control device through the communication interface, the encoded video data does not pass through the buffer of the buffer; or before the encoded video data is sent to the streaming media server by the processor, The encoded video data does not pass through the buffer of the buffer, thereby avoiding increasing the delay of the live video broadcast due to the buffering of the encoded video data by the terminal device.
本发明实施例提供一种视频传输的方法。图19为本发明实施例提供的视频传输的方法的流程图。本发明实施例提供的视频传输的方法应用于流媒体服务器，如图19所示，本实施例中的方法，可以包括：Embodiments of the present invention provide a method for video transmission. FIG. 19 is a flowchart of a method for video transmission according to an embodiment of the present invention. The method for video transmission provided by the embodiment of the present invention is applied to a streaming media server. As shown in FIG. 19, the method in this embodiment may include:
步骤S1901、通过通讯接口接收终端设备发送的编码视频数据，所述编码视频数据是对无人飞行器搭载的拍摄设备拍摄的视频数据进行编码得到的。Step S1901: Receive encoded video data sent by the terminal device through a communication interface, where the encoded video data is obtained by encoding video data captured by a photographing device mounted on the UAV.
如图16所示，流媒体服务器17通过通讯接口171接收基站14转发的编码视频数据，该编码视频数据具体可以是无人飞行器11内的处理器112对拍摄设备111拍摄到的视频数据进行编码得到的视频数据，也可以是无人飞行器11内的处理器112丢弃拍摄设备111拍摄到的视频数据中的预设类型的图像帧后，对丢弃预设类型的图像帧后的视频数据进行编码得到的视频数据，该编码视频数据依次经过遥控设备12、终端设备13、基站14的透传传输到流媒体服务器17。As shown in FIG. 16, the streaming media server 17 receives the encoded video data forwarded by the base station 14 through the communication interface 171. The encoded video data may be specifically encoded by the processor 112 in the UAV 11 to capture the video data captured by the capturing device 111. The obtained video data may also be that after the processor 112 in the UAV 11 discards the preset type of image frame in the video data captured by the photographing device 111, the video data after discarding the preset type of image frame is encoded. The obtained video data is transmitted to the streaming server 17 through the transparent transmission of the remote control device 12, the terminal device 13, and the base station 14 in sequence.
在其他实施例中，该编码视频数据具体可以是由终端设备13对处理器112编码后得到的视频数据进行解码、丢弃解码后视频数据中的预设类型的图像帧、对丢弃预设类型的图像帧后的视频数据进行编码得到的视频数据，可选的，终端设备13编码得到的视频数据具体可以是RTMP格式的视频数据。该编码视频数据依次经过基站14的透传传输到流媒体服务器17。In other embodiments, the encoded video data may be specifically decoded by the terminal device 13 to encode the video data obtained by the processor 112, discarded by the preset type of image frame in the decoded video data, and discarded by the preset type. The video data obtained by encoding the video data after the image frame may be, for example, the video data encoded by the terminal device 13 may be video data of the RTMP format. The encoded video data is transmitted to the streaming server 17 via the transparent transmission by the base station 14 in sequence.
在其他实施例中，该编码视频数据具体还可以是由终端设备13对处理器112编码后得到的视频数据进行解码、再编码后得到的视频数据，可选的，终端设备13编码得到的视频数据具体可以是RTMP格式的视频数据。该编码视频数据依次经过基站14的透传传输到流媒体服务器17。In other embodiments, the encoded video data may also be video data obtained by decoding and re-encoding the video data obtained by the terminal device 13 after being encoded by the processor 112. Optionally, the video encoded by the terminal device 13 is obtained. The data may specifically be video data in RTMP format. The encoded video data is transmitted to the streaming server 17 via the transparent transmission by the base station 14 in sequence.
可以理解，远端设备16可能包括多种设备，例如IOS系统的设备、安卓系统的设备等，IOS系统的设备和安卓系统的设备可支持的视频数据的格式不同，IOS系统的设备如苹果手机、苹果电脑等支持HLS格式的视频数据，安卓系统的设备如使用安卓系统的手机、使用Windows系统的电脑等支持RTMP及M3U8格式的视频数据。It can be understood that the remote device 16 may include multiple devices, such as devices of the IOS system, devices of the Android system, etc., the formats of the video data supported by the devices of the IOS system and the devices of the Android system are different, and the devices of the IOS system such as the Apple mobile phone. , Apple computers and other video data supporting HLS format, Android devices such as mobile phones using Android, computers using Windows systems, etc. support RTMP and M3U8 format video data.
步骤S1902、通过处理器将所述编码视频数据发送给远端设备。 Step S1902: The encoded video data is sent to the remote device by the processor.
在本实施例中，远端设备16具体为安卓系统的设备如使用安卓系统的手机、使用Windows系统的电脑。由于安卓系统的设备如使用安卓系统的手机、使用Windows系统的电脑等支持RTMP及M3U8格式的视频数据，因此，流媒体服务器17不需要对RTMP格式的视频数据进行格式转换，可通过通讯接口173将该RTMP格式的视频数据透传至远端设备16。In this embodiment, the remote device 16 is specifically a device of the Android system, such as a mobile phone using an Android system or a computer using a Windows system. Since the Android system device supports the RTMP and M3U8 format video data, such as the mobile phone using the Android system and the computer using the Windows system, the streaming media server 17 does not need to perform format conversion on the RTMP format video data, and can pass the communication interface 173. The video data of the RTMP format is transparently transmitted to the remote device 16.
在本实施例中，流媒体服务器17和远端设备16可以有线连接，也可以无线连接，例如，流媒体服务器17和远端设备16进行有线通信，则通讯接口173具体为有线通讯接口，若流媒体服务器17和远端设备16进行无线通信，则通讯接口173具体为无线通讯接口。In this embodiment, the streaming media server 17 and the remote device 16 may be connected by wire or wirelessly. For example, the streaming media server 17 and the remote device 16 perform wired communication, and the communication interface 173 is specifically a wired communication interface. The streaming server 17 and the remote device 16 perform wireless communication, and the communication interface 173 is specifically a wireless communication interface.
其中，在通过通讯接口171接收终端设备13发送的编码视频数据之后，所述编码视频数据不经过缓冲器的缓存；或者在通过处理器172将所述编码视频数据发送给远端设备16之前，所述编码视频数据不经过缓冲器的缓存。Wherein, after receiving the encoded video data sent by the terminal device 13 through the communication interface 171, the encoded video data does not pass through the buffer of the buffer; or before the encoded video data is transmitted to the remote device 16 by the processor 172, The encoded video data does not pass through the buffer of the buffer.
所述缓冲器为处理器172内部的缓冲器；或者，所述缓冲器为处理器172外部的缓冲器。The buffer is a buffer internal to the processor 172; or the buffer is a buffer external to the processor 172.
本实施例通过流媒体服务器在通过通讯接口接收终端设备发送的编码视频数据之后，所述编码视频数据不经过缓冲器的缓存；或者在通过处理器将所述编码视频数据发送给远端设备之前，所述编码视频数据不经过缓冲器的缓存，避免由于流媒体服务器对编码视频数据的缓存而增加视频直播的时延。In this embodiment, after the encoded video data sent by the terminal device is received by the streaming media server through the communication interface, the encoded video data does not pass through the buffer of the buffer; or before the encoded video data is sent to the remote device by the processor. The encoded video data does not pass through the buffer of the buffer, thereby avoiding increasing the delay of the live video broadcast due to the buffering of the encoded video data by the streaming media server.
本发明实施例提供一种无人飞行器。图20为本发明实施例提供的无人飞行器的结构图，如图20所示，无人飞行器200包括：机身、动力系统和处理器208，所述动力系统包括如下至少一种：电机207、螺旋桨206和电子调速器209，动力系统安装在所述机身，用于提供飞行动力；处理器208具体可以是飞行控制器，也可以是通用或者专用处理器。飞行控制器与所述动力系统通讯连接，用于控制所述无人飞行器飞行。Embodiments of the present invention provide an unmanned aerial vehicle. 20 is a structural diagram of an unmanned aerial vehicle according to an embodiment of the present invention. As shown in FIG. 20, the unmanned aerial vehicle 200 includes a fuselage, a power system, and a processor 208, and the power system includes at least one of the following: a motor 207. a propeller 206 and an electronic governor 209, the power system being mounted to the fuselage for providing flight power; the processor 208 may specifically be a flight controller or a general purpose or special purpose processor. A flight controller is in communication with the power system for controlling the UAV flight.
另外，如图20所示，无人飞行器200还包括：通讯接口205、支撑设备202、拍摄设备204，其中，支撑设备202具体可以是云台，拍摄设备204用于获取视频数据；处理器208用于丢弃所述视频数据中的预设类型 的图像帧；及对丢弃预设类型的图像帧后的视频数据进行编码；通讯接口205用于向遥控设备发送编码后的视频数据。In addition, as shown in FIG. 20, the unmanned aerial vehicle 200 further includes: a communication interface 205, a supporting device 202, and a photographing device 204. The supporting device 202 may specifically be a pan/tilt, and the photographing device 204 is configured to acquire video data; Used to discard preset types in the video data Image frame; and encoding the video data after discarding the preset type of image frame; the communication interface 205 is configured to send the encoded video data to the remote control device.
可选的，所述预设类型的图像帧至少包括双向预测编码帧和前向预测编码帧中的一种。Optionally, the preset type of image frame includes at least one of a bidirectional predictive coding frame and a forward predictive coding frame.
处理器208丢弃所述视频数据中的预设类型的图像帧之后，还用于：将丢弃预设类型的图像帧后的视频数据中的每一帧图像划分成多个片元；处理器208对丢弃预设类型的图像帧后的视频数据进行编码时，具体用于：对所述视频数据中每一帧图像划分得到的片元进行编码；通讯接口205向遥控设备发送所述编码后的视频数据时，具体用于：向遥控设备发送每一个编码后的片元。After the processor 208 discards the image frame of the preset type in the video data, the method further includes: dividing each frame image of the video data after discarding the preset type of image frame into a plurality of chips; and the processor 208 When encoding the video data after the preset image frame is discarded, the method is specifically configured to: encode the fragment obtained by dividing each frame of the video data; and the communication interface 205 sends the encoded to the remote control device. When the video data is used, it is specifically used to: send each encoded fragment to the remote control device.
可选的，在所述处理器丢弃所述视频数据中的预设类型的图像帧之前，所述视频数据不经过缓冲器的缓存；或者在所述通讯接口向遥控设备发送所述编码后的视频数据之前，所述编码后的视频数据不经过缓存器缓存。所述缓冲器为所述处理器内部的缓冲器。或者所述缓冲器为所述处理器外部的缓冲器。Optionally, before the processor discards a preset type of image frame in the video data, the video data does not pass through a buffer of the buffer; or the encoded interface sends the encoded to the remote control device. Before the video data, the encoded video data is not buffered by the buffer. The buffer is a buffer internal to the processor. Or the buffer is a buffer external to the processor.
本发明实施例提供的无人飞行器的具体原理和实现方式均与图2所示实施例类似，此处不再赘述。The specific principle and implementation manner of the unmanned aerial vehicle provided by the embodiment of the present invention are similar to the embodiment shown in FIG. 2, and details are not described herein again.
本发明实施例提供一种无人飞行器。图20为本发明实施例提供的无人飞行器的结构图，如图20所示，无人飞行器200包括：拍摄设备204、处理器208、通讯接口205，拍摄设备204用于获取视频数据；处理器208用于对所述视频数据进行编码；通讯接口205用于向遥控设备发送编码后的视频数据；其中，在所述处理器对所述视频数据进行编码之前，所述视频数据不经过缓冲器的缓存；或者在所述通讯接口向遥控设备发送所述编码后的视频数据之前，所述编码后的视频数据不经过缓存器缓存。可选的，所述缓冲器为所述处理器内部的缓冲器。或者，所述缓冲器为所述处理器外部的缓冲器。Embodiments of the present invention provide an unmanned aerial vehicle. FIG. 20 is a structural diagram of an unmanned aerial vehicle according to an embodiment of the present invention. As shown in FIG. 20, the unmanned aerial vehicle 200 includes: a photographing device 204, a processor 208, and a communication interface 205. The photographing device 204 is configured to acquire video data; The device 208 is configured to encode the video data; the communication interface 205 is configured to send the encoded video data to the remote control device; wherein the video data is not buffered before the processor encodes the video data. The buffer of the device; or the encoded video data is not buffered by the buffer before the communication interface sends the encoded video data to the remote control device. Optionally, the buffer is a buffer inside the processor. Alternatively, the buffer is a buffer external to the processor.
在其他实施例中，处理器208还用于：丢弃所述视频数据中的预设类型的图像帧；处理器208对所述视频数据进行编码时，具体用于：对丢弃预设类型的图像帧后的视频数据进行编码。所述预设类型的图像帧至少 包括双向预测编码帧和前向预测编码帧中的一种。In other embodiments, the processor 208 is further configured to: discard a preset type of image frame in the video data; when the processor 208 encodes the video data, specifically, the method is: discarding a preset type of image The video data after the frame is encoded. The preset type of image frame is at least One of a bidirectional predictive coding frame and a forward predictive coding frame is included.
在一些实施例中，处理器208还用于：将所述视频数据中的每一帧图像划分成多个片元；处理器208对所述视频数据进行编码时，具体用于：对所述视频数据中每一帧图像划分得到的片元进行编码；通讯接口205向遥控设备发送编码后的视频数据时，具体用于：向遥控设备发送每一个编码后的片元。In some embodiments, the processor 208 is further configured to: divide each frame image in the video data into a plurality of slices; when the processor 208 encodes the video data, specifically, the method is: The picture element obtained by dividing each frame of the video data is encoded; when the communication interface 205 sends the encoded video data to the remote control device, it is specifically used to: send each coded chip element to the remote control device.
本发明实施例提供的无人飞行器的具体原理和实现方式均与图6所示实施例类似，此处不再赘述。The specific principle and implementation manner of the unmanned aerial vehicle provided by the embodiment of the present invention are similar to the embodiment shown in FIG. 6, and details are not described herein again.
本发明实施例提供一种遥控设备。如图11所示，遥控设备120包括：通讯接口121和处理器122，通讯接口121用于接收无人飞行器发送的编码后的视频数据；处理器122用于将所述编码后的视频数据发送给终端设备；其中，通讯接口121接收无人飞行器发送的编码后的视频数据之后，所述视频数据不经过缓冲器的缓存；或者处理器122将所述编码后的视频数据发送给终端设备之前，所述视频数据不经过缓冲器的缓存。Embodiments of the present invention provide a remote control device. As shown in FIG. 11, the remote control device 120 includes a communication interface 121 and a processor 122. The communication interface 121 is configured to receive encoded video data sent by the UAV; and the processor 122 is configured to send the encoded video data. Providing to the terminal device; wherein, after the communication interface 121 receives the encoded video data sent by the UAV, the video data does not pass through the buffer of the buffer; or the processor 122 sends the encoded video data to the terminal device before The video data does not pass through the buffer of the buffer.
所述缓冲器为所述处理器内部的缓冲器；或者，所述缓冲器为所述处理器外部的缓冲器。The buffer is a buffer internal to the processor; or the buffer is a buffer external to the processor.
本发明实施例提供的遥控设备的具体原理和实现方式均与图10所示实施例类似，此处不再赘述。The specific principles and implementation manners of the remote control device provided by the embodiment of the present invention are similar to the embodiment shown in FIG. 10, and details are not described herein again.
本发明实施例提供一种终端设备。如图13所示，终端设备13包括：通讯接口131和处理器132；通讯接口131用于接收遥控设备发送的编码视频数据，所述编码视频数据是对无人飞行器搭载的拍摄设备拍摄的视频数据进行编码得到的；处理器132用于：对所述编码视频数据进行解码得到所述视频数据；丢弃所述视频数据中的预设类型的图像帧；对丢弃预设类型的图像帧后的视频数据进行编码；向流媒体服务器发送编码后的视频数据。The embodiment of the invention provides a terminal device. As shown in FIG. 13, the terminal device 13 includes: a communication interface 131 and a processor 132. The communication interface 131 is configured to receive encoded video data sent by the remote control device, where the encoded video data is a video taken by a shooting device mounted on the unmanned aerial vehicle. The data is encoded. The processor 132 is configured to: decode the encoded video data to obtain the video data; discard the preset type of image frame in the video data; and discard the preset type of image frame after discarding The video data is encoded; the encoded video data is sent to the streaming server.
所述预设类型的图像帧至少包括双向预测编码帧和前向预测编码帧中的一种。The preset type of image frame includes at least one of a bidirectional predictive coding frame and a forward predictive coding frame.
处理器132丢弃所述视频数据中的预设类型的图像帧之后，还用于： 将丢弃预设类型的图像帧后的视频数据中的每一帧图像划分成多个片元；处理器132对丢弃预设类型的图像帧后的视频数据进行编码时，具体用于：对所述视频数据中每一帧图像划分得到的片元进行编码；处理器132向流媒体服务器发送编码后的视频数据时，具体用于：向流媒体服务器发送每一个编码后的片元。After the processor 132 discards the preset type of image frame in the video data, it is further used to: Decomposing each frame image of the video data after the preset type of image frame is divided into a plurality of slices; and when the processor 132 encodes the video data after discarding the preset type of image frame, the specific use is: The fragment obtained by dividing each frame of the video data is encoded. When the processor 132 sends the encoded video data to the streaming server, the processor 132 is specifically configured to: send each encoded fragment to the streaming server.
可选的，在所述处理器对所述编码视频数据进行解码之前，所述编码视频数据不经过缓冲器的缓存；或者在所述处理器向流媒体服务器发送编码后的视频数据之前，所述编码后的视频数据不经过缓存器缓存。Optionally, before the processor decodes the encoded video data, the encoded video data does not pass through a buffer of the buffer; or before the processor sends the encoded video data to the streaming media server, The encoded video data is not buffered by the buffer.
所述缓冲器为所述处理器内部的缓冲器。或者，所述缓冲器为所述处理器外部的缓冲器。The buffer is a buffer internal to the processor. Alternatively, the buffer is a buffer external to the processor.
本发明实施例提供的终端设备的具体原理和实现方式均与图12所示实施例类似，此处不再赘述。The specific principles and implementation manners of the terminal device provided by the embodiment of the present invention are similar to the embodiment shown in FIG. 12, and details are not described herein again.
本发明实施例提供一种终端设备。如图13所示，终端设备13包括：通讯接口131和处理器132；通讯接口131用于接收遥控设备发送的编码视频数据，所述编码视频数据是对无人飞行器搭载的拍摄设备拍摄的视频数据进行编码得到的；处理器132用于：对所述编码视频数据进行解码得到所述视频数据；对所述视频数据进行编码；及向流媒体服务器发送编码后的视频数据；其中，在处理器132对所述编码视频数据进行解码之前，所述编码视频数据不经过缓冲器的缓存；或者在处理器132向流媒体服务器发送所述编码后的视频数据之前，所述编码后的视频数据不经过缓存器缓存。可选的，所述缓冲器为所述处理器内部的缓冲器。或者，所述缓冲器为所述处理器外部的缓冲器。The embodiment of the invention provides a terminal device. As shown in FIG. 13, the terminal device 13 includes: a communication interface 131 and a processor 132. The communication interface 131 is configured to receive encoded video data sent by the remote control device, where the encoded video data is a video taken by a shooting device mounted on the unmanned aerial vehicle. The data is encoded; the processor 132 is configured to: decode the encoded video data to obtain the video data; encode the video data; and send the encoded video data to a streaming media server; The encoded video data is not buffered by the buffer before the encoded video data is decoded; or the encoded video data is before the processor 132 sends the encoded video data to the streaming server. Does not pass the buffer cache. Optionally, the buffer is a buffer inside the processor. Alternatively, the buffer is a buffer external to the processor.
在其他实施例中，处理器132还用于：丢弃所述视频数据中的预设类型的图像帧；处理器132对所述视频数据进行编码时，具体用于：对丢弃预设类型的图像帧后的视频数据进行编码。所述预设类型的图像帧至少包括双向预测编码帧和前向预测编码帧中的一种。In other embodiments, the processor 132 is further configured to: discard a preset type of image frame in the video data; when the processor 132 encodes the video data, specifically, the method is: discarding a preset type of image The video data after the frame is encoded. The preset type of image frame includes at least one of a bidirectional predictive coding frame and a forward predictive coding frame.
在一些实施例中，处理器132还用于：将所述视频数据中的每一帧图像划分成多个片元；处理器132对所述视频数据进行编码时，具体用于：对所述视频数据中每一帧图像划分得到的片元进行编码；处理器132向流 媒体服务器发送编码后的视频数据时，具体用于：向流媒体服务器发送每一个编码后的片元。In some embodiments, the processor 132 is further configured to: divide each frame image in the video data into a plurality of slices; when the processor 132 encodes the video data, specifically, the method is: The fragment obtained by dividing each frame of the video data is encoded; the processor 132 flows to the stream When the media server sends the encoded video data, it is specifically used to: send each encoded fragment to the streaming server.
本发明实施例提供的终端设备的具体原理和实现方式均与图14所示实施例类似，此处不再赘述。The specific principles and implementation manners of the terminal device provided by the embodiment of the present invention are similar to the embodiment shown in FIG. 14, and details are not described herein again.
本发明实施例提供一种流媒体服务器。如图16所示，流媒体服务器17包括：通讯接口171和处理器172；通讯接口171用于接收终端设备发送的编码视频数据,所述编码视频数据是对无人飞行器搭载的拍摄设备拍摄的视频数据进行编码得到的；处理器172用于：对所述编码视频数据进行解码得到所述视频数据；丢弃所述视频数据中的预设类型的图像帧；对丢弃预设类型的图像帧后的视频数据进行编码；向远端设备发送编码后的视频数据。The embodiment of the invention provides a streaming media server. As shown in FIG. 16, the streaming server 17 includes a communication interface 171 and a processor 172. The communication interface 171 is configured to receive encoded video data sent by the terminal device, where the encoded video data is captured by a camera mounted on the unmanned aerial vehicle. The video data is encoded; the processor 172 is configured to: decode the encoded video data to obtain the video data; discard the preset type of image frame in the video data; and discard the preset type of image frame after discarding The video data is encoded; the encoded video data is sent to the remote device.
所述预设类型的图像帧至少包括双向预测编码帧和前向预测编码帧中的一种。处理器172丢弃所述视频数据中的预设类型的图像帧之后，还用于：将丢弃预设类型的图像帧后的视频数据中的每一帧图像划分成多个片元；处理器172对丢弃预设类型的图像帧后的视频数据进行编码时，具体用于：对所述视频数据中每一帧图像划分得到的片元进行编码；处理器172向远端设备发送编码后的视频数据时，具体用于：向远端设备发送每一个编码后的片元。The preset type of image frame includes at least one of a bidirectional predictive coding frame and a forward predictive coding frame. After the processor 172 discards the image frame of the preset type in the video data, the method further includes: dividing each frame image of the video data after discarding the preset type of image frame into a plurality of chips; When encoding the video data after the preset image frame is discarded, the method is specifically configured to: encode the fragment obtained by dividing each frame of the video data; and the processor 172 sends the encoded video to the remote device. When the data is used, it is specifically used to: send each encoded fragment to the remote device.
在其他实施例中，在所述处理器对所述编码视频数据进行解码之前，所述编码视频数据不经过缓冲器的缓存；或者在所述处理器向远端设备发送编码后的视频数据之前，所述编码后的视频数据不经过缓存器缓存。所述缓冲器为所述处理器内部的缓冲器。或者，所述缓冲器为所述处理器外部的缓冲器。In other embodiments, the encoded video data does not pass through the buffer before the processor decodes the encoded video data; or before the processor transmits the encoded video data to the remote device. The encoded video data is not buffered by the buffer. The buffer is a buffer internal to the processor. Alternatively, the buffer is a buffer external to the processor.
本发明实施例提供的流媒体服务器的具体原理和实现方式均与图15所示实施例类似，此处不再赘述。The specific principles and implementations of the streaming media server provided by the embodiment of the present invention are similar to the embodiment shown in FIG. 15 and will not be further described herein.
本发明实施例提供一种流媒体服务器。如图16所示，流媒体服务器17包括：通讯接口171和处理器172；通讯接口171用于接收终端设备发送的编码视频数据，所述编码视频数据是对无人飞行器搭载的拍摄设备 拍摄的视频数据进行编码得到的；处理器172用于：对所述编码视频数据进行解码得到所述视频数据；对所述视频数据进行编码；及向远端设备发送编码后的视频数据；其中，在所述处理器对所述编码视频数据进行解码之前，所述编码视频数据不经过缓冲器的缓存；或者在所述处理器向远端设备发送编码后的视频数据之前，所述编码后的视频数据不经过缓存器缓存。The embodiment of the invention provides a streaming media server. As shown in FIG. 16, the streaming server 17 includes a communication interface 171 and a processor 172. The communication interface 171 is configured to receive encoded video data sent by the terminal device, where the encoded video data is a shooting device mounted on the unmanned aerial vehicle. The captured video data is encoded; the processor 172 is configured to: decode the encoded video data to obtain the video data; encode the video data; and send the encoded video data to a remote device; Before the processor decodes the encoded video data, the encoded video data does not pass through a buffer of the buffer; or after the processor sends the encoded video data to the remote device, after the encoding The video data is not buffered by the buffer.
可选的，所述缓冲器为所述处理器内部的缓冲器。或者，所述缓冲器为所述处理器外部的缓冲器。Optionally, the buffer is a buffer inside the processor. Alternatively, the buffer is a buffer external to the processor.
在其他实施例中，处理器172还用于：丢弃所述视频数据中的预设类型的图像帧；处理器172对所述视频数据进行编码时，具体用于：对丢弃预设类型的图像帧后的视频数据进行编码。所述预设类型的图像帧至少包括双向预测编码帧和前向预测编码帧中的一种。In other embodiments, the processor 172 is further configured to: discard the preset type of image frame in the video data; when the processor 172 encodes the video data, specifically, the method is: discarding the preset type of image The video data after the frame is encoded. The preset type of image frame includes at least one of a bidirectional predictive coding frame and a forward predictive coding frame.
在一些实施例中，处理器172还用于：将所述视频数据中的每一帧图像划分成多个片元；处理器172对所述视频数据进行编码时，具体用于：对所述视频数据中每一帧图像划分得到的片元进行编码；处理器172向远端设备发送所述编码后的视频数据时，具体用于：向远端设备发送每一个编码后的片元。In some embodiments, the processor 172 is further configured to: divide each frame image in the video data into a plurality of tiles; when the processor 172 encodes the video data, specifically, to: The fragment obtained by dividing each frame of the video data is encoded. When the processor 172 sends the encoded video data to the remote device, the processor 172 is specifically configured to: send each encoded fragment to the remote device.
本发明实施例提供的流媒体服务器的具体原理和实现方式均与图17所示实施例类似，此处不再赘述。The specific principles and implementations of the streaming media server provided by the embodiment of the present invention are similar to the embodiment shown in FIG. 17, and details are not described herein again.
本发明实施例提供一种视频传输系统。如图13或图16，视频传输系统包括：无人飞行器11、遥控设备12、终端设备13、流媒体服务器17。无人飞行器11、遥控设备12、终端设备13、流媒体服务器17的具体原理和实现方式均与上述实施例类似，此处不再赘述。Embodiments of the present invention provide a video transmission system. As shown in FIG. 13 or FIG. 16, the video transmission system includes an unmanned aerial vehicle 11, a remote control device 12, a terminal device 13, and a streaming media server 17. The specific principles and implementations of the unmanned aerial vehicle 11, the remote control device 12, the terminal device 13, and the streaming media server 17 are similar to the above embodiments, and are not described herein again.
在本发明所提供的几个实施例中，应该理解到，所揭露的装置和方法，可以通过其它的方式实现。例如，以上所描述的装置实施例仅仅是示意性的，例如，所述单元的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，例如多个单元或组件可以结合或者可以集成到另一个系统，或一些特征可以忽略，或不执行。另一点，所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些接口，装 置或单元的间接耦合或通信连接，可以是电性，机械或其它的形式。In the several embodiments provided by the present invention, it should be understood that the disclosed apparatus and method may be implemented in other manners. For example, the device embodiments described above are merely illustrative. For example, the division of the unit is only a logical function division. In actual implementation, there may be another division manner, for example, multiple units or components may be combined or Can be integrated into another system, or some features can be ignored or not executed. Alternatively, the mutual coupling or direct coupling or communication connection shown or discussed may be through some interfaces. The indirect coupling or communication connection of the unit or unit may be electrical, mechanical or other form.
所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部单元来实现本实施例方案的目的。The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of the embodiment.
另外，在本发明各个实施例中的各功能单元可以集成在一个处理单元中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个单元中。上述集成的单元既可以采用硬件的形式实现，也可以采用硬件加软件功能单元的形式实现。In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above integrated unit can be implemented in the form of hardware or in the form of hardware plus software functional units.
上述以软件功能单元的形式实现的集成的单元，可以存储在一个计算机可读取存储介质中。上述软件功能单元存储在一个存储介质中，包括若干指令用以使得一台计算机设备(可以是个人计算机，服务器，或者网络设备等)或处理器(processor)执行本发明各个实施例所述方法的部分步骤。而前述的存储介质包括：U盘、移动硬盘、只读存储器(Read-Only Memory，ROM)、随机存取存储器(Random Access Memory，RAM)、磁碟或者光盘等各种可以存储程序代码的介质。The above-described integrated unit implemented in the form of a software functional unit can be stored in a computer readable storage medium. The above software functional unit is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) or a processor to perform the methods of the various embodiments of the present invention. Part of the steps. The foregoing storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk, and the like, which can store program codes. .
本领域技术人员可以清楚地了解到，为描述的方便和简洁，仅以上述各功能模块的划分进行举例说明，实际应用中，可以根据需要而将上述功能分配由不同的功能模块完成，即将装置的内部结构划分成不同的功能模块，以完成以上描述的全部或者部分功能。上述描述的装置的具体工作过程，可以参考前述方法实施例中的对应过程，在此不再赘述。A person skilled in the art can clearly understand that for the convenience and brevity of the description, only the division of each functional module described above is exemplified. In practical applications, the above function assignment can be completed by different functional modules as needed, that is, the device is installed. The internal structure is divided into different functional modules to perform all or part of the functions described above. For the specific working process of the device described above, reference may be made to the corresponding process in the foregoing method embodiments, and details are not described herein again.
最后应说明的是：以上各实施例仅用以说明本发明的技术方案，而非对其限制；尽管参照前述各实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分或者全部技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明各实施例技术方案的范围。 Finally, it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, and are not intended to be limiting; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art will understand that The technical solutions described in the foregoing embodiments may be modified, or some or all of the technical features may be equivalently replaced; and the modifications or substitutions do not deviate from the technical solutions of the embodiments of the present invention. range.

Claims (77)

  1. 一种视频传输的方法，应用于无人飞行器，其特征在于，包括：A method of video transmission, applied to an unmanned aerial vehicle, characterized in that it comprises:
    通过无人飞行器搭载的拍摄设备获取视频数据；Obtaining video data through a shooting device carried by an unmanned aerial vehicle;
    通过处理器丢弃所述视频数据中的预设类型的图像帧；Discarding a preset type of image frame in the video data by a processor;
    通过处理器对丢弃预设类型的图像帧后的视频数据进行编码；The video data after discarding the preset type of image frame is encoded by the processor;
    通过通讯接口向遥控设备发送编码后的视频数据。The encoded video data is transmitted to the remote control device through the communication interface.
  2. 根据权利要求1所述的方法，其特征在于，The method of claim 1 wherein
    所述预设类型的图像帧至少包括双向预测编码帧和前向预测编码帧中的一种。The preset type of image frame includes at least one of a bidirectional predictive coding frame and a forward predictive coding frame.
  3. 根据权利要求1或2所述的方法，其特征在于，Method according to claim 1 or 2, characterized in that
    在通过处理器丢弃所述视频数据中的预设类型的图像帧之后，所述方法还包括：通过所述处理器将丢弃预设类型的图像帧后的视频数据中的每一帧图像划分成多个片元；After discarding the preset type of image frame in the video data by the processor, the method further includes: dividing, by the processor, each frame image of the video data after discarding the preset type of image frame into Multiple fragments;
    所述通过处理器对丢弃预设类型的图像帧后的视频数据进行编码包括：The encoding, by the processor, the video data after discarding the preset type of image frame includes:
    通过所述处理器对所述视频数据中每一帧图像划分得到的片元进行编码；Capturing the fragment obtained by dividing each frame of the video data by the processor;
    所述通过通讯接口向遥控设备发送所述编码后的视频数据包括：The transmitting the encoded video data to the remote control device through the communication interface includes:
    通过所述通讯接口向遥控设备发送每一个编码后的片元。Each encoded fragment is transmitted to the remote control device via the communication interface.
  4. 根据权利要求1-3任一项所述的方法，其特征在于，所述方法还包括：The method according to any one of claims 1 to 3, wherein the method further comprises:
    在通过处理器丢弃所述视频数据中的预设类型的图像帧之前，所述视频数据不经过缓冲器的缓存；或者The video data does not pass through the buffer of the buffer before the processor discards the preset type of image frame in the video data; or
    在通过通讯接口向遥控设备发送所述编码后的视频数据之前，所述编码后的视频数据不经过缓存器缓存。The encoded video data is not buffered by the buffer before the encoded video data is transmitted to the remote control device through the communication interface.
  5. 根据权利要求4所述的方法，其特征在于，The method of claim 4 wherein:
    所述缓冲器为所述处理器内部的缓冲器。The buffer is a buffer internal to the processor.
  6. 根据权利要求4所述的方法，其特征在于，The method of claim 4 wherein:
    所述缓冲器为所述处理器外部的缓冲器。The buffer is a buffer external to the processor.
  7. 一种视频传输的方法，应用于无人飞行器，其特征在于，包括： A method of video transmission, applied to an unmanned aerial vehicle, characterized in that it comprises:
    通过无人飞行器搭载的拍摄设备获取视频数据；Obtaining video data through a shooting device carried by an unmanned aerial vehicle;
    通过处理器对所述视频数据进行编码；Encoding the video data by a processor;
    通过通讯接口向遥控设备发送编码后的视频数据；Transmitting the encoded video data to the remote control device through the communication interface;
    其中，在通过处理器对所述视频数据进行编码之前，所述视频数据不经过缓冲器的缓存；或者Wherein, before the video data is encoded by the processor, the video data does not pass through a buffer of the buffer; or
    在通过通讯接口向遥控设备发送所述编码后的视频数据之前，所述编码后的视频数据不经过缓存器缓存。The encoded video data is not buffered by the buffer before the encoded video data is transmitted to the remote control device through the communication interface.
  8. 根据权利要求7所述的方法，其特征在于，The method of claim 7 wherein:
    所述缓冲器为所述处理器内部的缓冲器。The buffer is a buffer internal to the processor.
  9. 根据权利要求7所述的方法，其特征在于，The method of claim 7 wherein:
    所述缓冲器为所述处理器外部的缓冲器。The buffer is a buffer external to the processor.
  10. 根据权利要求7-9任一项所述的方法，其特征在于，所述方法还包括：The method of any of claims 7-9, wherein the method further comprises:
    通过处理器丢弃所述视频数据中的预设类型的图像帧；Discarding a preset type of image frame in the video data by a processor;
    所述通过处理器对所述视频数据进行编码包括：The encoding the video data by the processor includes:
    通过处理器对丢弃预设类型的图像帧后的视频数据进行编码。The video data after discarding the preset type of image frame is encoded by the processor.
  11. 根据权利要求10所述的方法，其特征在于，The method of claim 10 wherein:
    所述预设类型的图像帧至少包括双向预测编码帧和前向预测编码帧中的一种。The preset type of image frame includes at least one of a bidirectional predictive coding frame and a forward predictive coding frame.
  12. 根据权利要求7-11任一项所述的方法，其特征在于，所述方法还包括：The method according to any one of claims 7 to 11, wherein the method further comprises:
    通过处理器将所述视频数据中的每一帧图像划分成多个片元；Dividing each frame image in the video data into a plurality of slices by a processor;
    所述通过处理器对所述视频数据进行编码包括：The encoding the video data by the processor includes:
    通过处理器对所述视频数据中每一帧图像划分得到的片元进行编码；Encoding a slice obtained by dividing each frame of the video data by a processor;
    所述通过通讯接口向遥控设备发送编码后的视频数据包括：The transmitting the encoded video data to the remote control device through the communication interface includes:
    通过通讯接口向遥控设备发送每一个编码后的片元。Each encoded fragment is transmitted to the remote control device via the communication interface.
  13. 一种视频传输的方法，应用于遥控设备，其特征在于，包括：A method for video transmission, applied to a remote control device, comprising:
    通过通讯接口接收无人飞行器发送的编码后的视频数据；Receiving the encoded video data sent by the UAV through the communication interface;
    通过处理器将所述编码后的视频数据发送给终端设备； Transmitting the encoded video data to the terminal device by using a processor;
    其中，在通过通讯接口接收无人飞行器发送的编码后的视频数据之后，所述视频数据不经过缓冲器的缓存；或者Wherein, after receiving the encoded video data sent by the UAV through the communication interface, the video data does not pass through the buffer of the buffer; or
    在通过所述处理器将所述编码后的视频数据发送给终端设备之前，所述视频数据不经过缓冲器的缓存。The video data does not pass through the buffer of the buffer before the encoded video data is transmitted to the terminal device by the processor.
  14. 根据权利要求13所述的方法，其特征在于，所述缓冲器为所述处理器内部的缓冲器；或者，The method of claim 13 wherein said buffer is a buffer internal to said processor; or
    所述缓冲器为所述处理器外部的缓冲器。The buffer is a buffer external to the processor.
  15. 一种视频传输的方法，应用于与遥控设备连接的终端设备，其特征在于，包括：A video transmission method is applied to a terminal device connected to a remote control device, and is characterized in that:
    通过通讯接口接收遥控设备发送的编码视频数据，所述编码视频数据是对无人飞行器搭载的拍摄设备拍摄的视频数据进行编码得到的；Receiving, by the communication interface, encoded video data sent by the remote control device, where the encoded video data is obtained by encoding video data captured by a shooting device carried by the unmanned aerial vehicle;
    通过处理器对所述编码视频数据进行解码得到所述视频数据；Decoding the encoded video data by a processor to obtain the video data;
    通过处理器丢弃所述视频数据中的预设类型的图像帧；Discarding a preset type of image frame in the video data by a processor;
    通过处理器对丢弃预设类型的图像帧后的视频数据进行编码；The video data after discarding the preset type of image frame is encoded by the processor;
    通过处理器向流媒体服务器发送编码后的视频数据。The encoded video data is transmitted to the streaming server by the processor.
  16. 根据权利要求15所述的方法，其特征在于，The method of claim 15 wherein:
    所述预设类型的图像帧至少包括双向预测编码帧和前向预测编码帧中的一种。The preset type of image frame includes at least one of a bidirectional predictive coding frame and a forward predictive coding frame.
  17. 根据权利要求15或16所述的方法，其特征在于，在通过处理器丢弃所述视频数据中的预设类型的图像帧之后，所述方法还包括：The method according to claim 15 or 16, wherein after the processor discards the preset type of image frame in the video data, the method further comprises:
    通过所述处理器将丢弃预设类型的图像帧后的视频数据中的每一帧图像划分成多个片元；Dividing, by the processor, each frame image of the video data after discarding the preset type of image frame into a plurality of slices;
    所述通过处理器对丢弃预设类型的图像帧后的视频数据进行编码包括：The encoding, by the processor, the video data after discarding the preset type of image frame includes:
    通过所述处理器对所述视频数据中每一帧图像划分得到的片元进行编码；Capturing the fragment obtained by dividing each frame of the video data by the processor;
    所述通过处理器向流媒体服务器发送编码后的视频数据包括：The sending, by the processor, the encoded video data to the streaming server includes:
    通过所述处理器向流媒体服务器发送每一个编码后的片元。Each encoded fragment is transmitted by the processor to the streaming server.
  18. 根据权利要求15-17任一项所述的方法，其特征在于，在通过处理器对所述编码视频数据进行解码之前，所述编码视频数据不经过缓冲 器的缓存；或者A method according to any one of claims 15-17, wherein said encoded video data is not buffered prior to decoding said encoded video data by a processor Cache of the device; or
    在通过处理器向流媒体服务器发送编码后的视频数据之前，所述编码后的视频数据不经过缓存器缓存。The encoded video data is not buffered by the buffer before the encoded video data is sent to the streaming server by the processor.
  19. 根据权利要求18所述的方法，其特征在于，The method of claim 18, wherein
    所述缓冲器为所述处理器内部的缓冲器。The buffer is a buffer internal to the processor.
  20. 根据权利要求18所述的方法，其特征在于，The method of claim 18, wherein
    所述缓冲器为所述处理器外部的缓冲器。The buffer is a buffer external to the processor.
  21. 一种视频传输的方法，应用于与遥控设备连接的终端设备，其特征在于，包括：A video transmission method is applied to a terminal device connected to a remote control device, and is characterized in that:
    通过通讯接口接收遥控设备发送的编码视频数据，所述编码视频数据是对无人飞行器搭载的拍摄设备拍摄的视频数据进行编码得到的；Receiving, by the communication interface, encoded video data sent by the remote control device, where the encoded video data is obtained by encoding video data captured by a shooting device carried by the unmanned aerial vehicle;
    通过处理器对所述编码视频数据进行解码得到所述视频数据；Decoding the encoded video data by a processor to obtain the video data;
    通过处理器对所述视频数据进行编码；Encoding the video data by a processor;
    通过处理器向流媒体服务器发送编码后的视频数据；Transmitting the encoded video data to the streaming server by the processor;
    其中，在通过处理器对所述编码视频数据进行解码之前，所述编码视频数据不经过缓冲器的缓存；或者Wherein, before the encoded video data is decoded by the processor, the encoded video data does not pass through a buffer of the buffer; or
    在通过处理器向流媒体服务器发送编码后的视频数据之前，所述编码后的视频数据不经过缓存器缓存。The encoded video data is not buffered by the buffer before the encoded video data is sent to the streaming server by the processor.
  22. 根据权利要求21所述的方法，其特征在于，The method of claim 21 wherein
    所述缓冲器为所述处理器内部的缓冲器。The buffer is a buffer internal to the processor.
  23. 根据权利要求21所述的方法，其特征在于，The method of claim 21 wherein
    所述缓冲器为所述处理器外部的缓冲器。The buffer is a buffer external to the processor.
  24. 根据权利要求21-23任一项所述的方法，其特征在于，所述方法还包括：The method according to any one of claims 21 to 23, wherein the method further comprises:
    通过处理器丢弃所述视频数据中的预设类型的图像帧；Discarding a preset type of image frame in the video data by a processor;
    所述通过处理器对所述视频数据进行编码包括：The encoding the video data by the processor includes:
    通过处理器对丢弃预设类型的图像帧后的视频数据进行编码。The video data after discarding the preset type of image frame is encoded by the processor.
  25. 根据权利要求24所述的方法，其特征在于，The method of claim 24 wherein
    所述预设类型的图像帧至少包括双向预测编码帧和前向预测编码帧中的一种。 The preset type of image frame includes at least one of a bidirectional predictive coding frame and a forward predictive coding frame.
  26. 根据权利要求21-25任一项所述的方法，其特征在于，所述方法还包括：The method according to any one of claims 21 to 25, wherein the method further comprises:
    通过处理器将所述视频数据中的每一帧图像划分成多个片元；Dividing each frame image in the video data into a plurality of slices by a processor;
    所述通过处理器对所述视频数据进行编码包括：The encoding the video data by the processor includes:
    通过处理器对所述视频数据中每一帧图像划分得到的片元进行编码；Encoding a slice obtained by dividing each frame of the video data by a processor;
    所述通过处理器向流媒体服务器发送编码后的视频数据包括：The sending, by the processor, the encoded video data to the streaming server includes:
    通过处理器向流媒体服务器发送每一个编码后的片元。Each encoded fragment is sent by the processor to the streaming server.
  27. 一种视频传输的方法，应用于流媒体服务器，其特征在于，包括：A method for video transmission, applied to a streaming media server, comprising:
    通过通讯接口接收终端设备发送的编码视频数据,所述编码视频数据是对无人飞行器搭载的拍摄设备拍摄的视频数据进行编码得到的；Receiving, by the communication interface, encoded video data sent by the terminal device, where the encoded video data is obtained by encoding video data captured by a shooting device carried by the unmanned aerial vehicle;
    通过处理器对所述编码视频数据进行解码得到所述视频数据；Decoding the encoded video data by a processor to obtain the video data;
    通过处理器丢弃所述视频数据中的预设类型的图像帧；Discarding a preset type of image frame in the video data by a processor;
    通过处理器对丢弃预设类型的图像帧后的视频数据进行编码；The video data after discarding the preset type of image frame is encoded by the processor;
    通过处理器向远端设备发送编码后的视频数据。The encoded video data is transmitted to the remote device by the processor.
  28. 根据权利要求27所述的方法，其特征在于，The method of claim 27, wherein
    所述预设类型的图像帧至少包括双向预测编码帧和前向预测编码帧中的一种。The preset type of image frame includes at least one of a bidirectional predictive coding frame and a forward predictive coding frame.
  29. 根据权利要求27或28所述的方法，其特征在于，在通过处理器丢弃所述视频数据中的预设类型的图像帧之后，所述方法还包括：The method according to claim 27 or 28, wherein after the processor discards the preset type of image frame in the video data, the method further comprises:
    通过所述处理器将丢弃预设类型的图像帧后的视频数据中的每一帧图像划分成多个片元；Dividing, by the processor, each frame image of the video data after discarding the preset type of image frame into a plurality of slices;
    所述通过处理器对丢弃预设类型的图像帧后的视频数据进行编码包括：The encoding, by the processor, the video data after discarding the preset type of image frame includes:
    通过所述处理器对所述视频数据中每一帧图像划分得到的片元进行编码；Capturing the fragment obtained by dividing each frame of the video data by the processor;
    所述通过处理器向远端设备发送编码后的视频数据包括：The sending, by the processor, the encoded video data to the remote device includes:
    通过所述处理器向远端设备发送每一个编码后的片元。Each encoded fragment is transmitted by the processor to a remote device.
  30. 根据权利要求27-29任一项所述的方法，其特征在于，在通过处 理器对所述编码视频数据进行解码之前，所述编码视频数据不经过缓冲器的缓存；或者Method according to any one of claims 27-29, characterized in that Before the encoded video data is decoded by the processor, the encoded video data does not pass through the buffer of the buffer; or
    在通过处理器向远端设备发送编码后的视频数据之前，所述编码后的视频数据不经过缓存器缓存。The encoded video data is not buffered by the buffer before the encoded video data is transmitted to the remote device by the processor.
  31. 根据权利要求30所述的方法，其特征在于，所述缓冲器为所述处理器内部的缓冲器。The method of claim 30 wherein said buffer is a buffer internal to said processor.
  32. 根据权利要求30所述的方法，其特征在于，所述缓冲器为所述处理器外部的缓冲器。The method of claim 30 wherein said buffer is a buffer external to said processor.
  33. 一种视频传输的方法，应用于流媒体服务器，其特征在于，包括：A method for video transmission, applied to a streaming media server, comprising:
    通过通讯接口接收终端设备发送的编码视频数据，所述编码视频数据是对无人飞行器搭载的拍摄设备拍摄的视频数据进行编码得到的；Receiving, by the communication interface, encoded video data sent by the terminal device, where the encoded video data is obtained by encoding video data captured by a shooting device carried by the unmanned aerial vehicle;
    通过处理器对所述编码视频数据进行解码得到所述视频数据；Decoding the encoded video data by a processor to obtain the video data;
    通过处理器对所述视频数据进行编码；Encoding the video data by a processor;
    通过处理器向远端设备发送编码后的视频数据；Transmitting the encoded video data to the remote device by the processor;
    其中，在通过处理器对所述编码视频数据进行解码之前，所述编码视频数据不经过缓冲器的缓存；或者Wherein, before the encoded video data is decoded by the processor, the encoded video data does not pass through a buffer of the buffer; or
    在通过处理器向远端设备发送编码后的视频数据之前，所述编码后的视频数据不经过缓存器缓存。The encoded video data is not buffered by the buffer before the encoded video data is transmitted to the remote device by the processor.
  34. 根据权利要求33所述的方法，其特征在于，The method of claim 33, wherein
    所述缓冲器为所述处理器内部的缓冲器。The buffer is a buffer internal to the processor.
  35. 根据权利要求33所述的方法，其特征在于，The method of claim 33, wherein
    所述缓冲器为所述处理器外部的缓冲器。The buffer is a buffer external to the processor.
  36. 根据权利要求33-35任一项所述的方法，其特征在于，所述方法还包括：The method of any of claims 33-35, wherein the method further comprises:
    通过处理器丢弃所述视频数据中的预设类型的图像帧；Discarding a preset type of image frame in the video data by a processor;
    所述通过处理器对所述视频数据进行编码包括：The encoding the video data by the processor includes:
    通过处理器对丢弃预设类型的图像帧后的视频数据进行编码。The video data after discarding the preset type of image frame is encoded by the processor.
  37. 根据权利要求36所述的方法，其特征在于，所述预设类型的图像帧至少包括双向预测编码帧和前向预测编码帧中的一种。 The method according to claim 36, wherein said preset type of image frame comprises at least one of a bidirectional predictive coded frame and a forward predictive coded frame.
  38. 根据权利要求33-37任一项所述的方法，其特征在于，所述方法还包括：The method according to any one of claims 33 to 37, wherein the method further comprises:
    通过处理器将所述视频数据中的每一帧图像划分成多个片元；Dividing each frame image in the video data into a plurality of slices by a processor;
    所述通过处理器对所述视频数据进行编码包括：The encoding the video data by the processor includes:
    通过处理器对所述视频数据中每一帧图像划分得到的片元进行编码；Encoding a slice obtained by dividing each frame of the video data by a processor;
    所述通过处理器向远端设备发送编码后的视频数据包括：The sending, by the processor, the encoded video data to the remote device includes:
    通过处理器向远端设备发送每一个编码后的片元。Each encoded fragment is sent by the processor to the remote device.
  39. 一种无人飞行器，其特征在于，包括：An unmanned aerial vehicle, comprising:
    拍摄设备，用于获取视频数据；a photographing device for acquiring video data;
    处理器，用于丢弃所述视频数据中的预设类型的图像帧；及a processor, configured to discard a preset type of image frame in the video data; and
    对丢弃预设类型的图像帧后的视频数据进行编码；Encoding the video data after discarding the preset type of image frame;
    通讯接口，用于向遥控设备发送编码后的视频数据。A communication interface for transmitting encoded video data to a remote control device.
  40. 根据权利要求39所述的无人飞行器，其特征在于，An unmanned aerial vehicle according to claim 39, wherein
    所述预设类型的图像帧至少包括双向预测编码帧和前向预测编码帧中的一种。The preset type of image frame includes at least one of a bidirectional predictive coding frame and a forward predictive coding frame.
  41. 根据权利要求39或40所述的无人飞行器，其特征在于，所述处理器丢弃所述视频数据中的预设类型的图像帧之后，还用于：The UAV according to claim 39 or 40, wherein after the processor discards the preset type of image frame in the video data, the processor is further configured to:
    将丢弃预设类型的图像帧后的视频数据中的每一帧图像划分成多个片元；Dividing each frame image of the video data after discarding the preset type of image frame into a plurality of slices;
    所述处理器对丢弃预设类型的图像帧后的视频数据进行编码时，具体用于：When the processor encodes the video data after discarding the preset type of image frame, the processor is specifically configured to:
    对所述视频数据中每一帧图像划分得到的片元进行编码；Encoding a slice obtained by dividing each frame of the video data;
    所述通讯接口向遥控设备发送所述编码后的视频数据时，具体用于：When the communication interface sends the encoded video data to the remote control device, specifically:
    向遥控设备发送每一个编码后的片元。Each encoded fragment is sent to the remote control device.
  42. 根据权利要求39-41任一项所述的无人飞行器，其特征在于，An unmanned aerial vehicle according to any one of claims 39 to 41, characterized in that
    在所述处理器丢弃所述视频数据中的预设类型的图像帧之前，所述视频数据不经过缓冲器的缓存；或者Before the processor discards a preset type of image frame in the video data, the video data does not pass through a buffer of a buffer; or
    在所述通讯接口向遥控设备发送所述编码后的视频数据之前，所述 编码后的视频数据不经过缓存器缓存。Before the communication interface sends the encoded video data to a remote control device, The encoded video data is not buffered by the buffer.
  43. 根据权利要求42所述的无人飞行器，其特征在于，An unmanned aerial vehicle according to claim 42, wherein
    所述缓冲器为所述处理器内部的缓冲器。The buffer is a buffer internal to the processor.
  44. 根据权利要求42所述的无人飞行器，其特征在于，An unmanned aerial vehicle according to claim 42, wherein
    所述缓冲器为所述处理器外部的缓冲器。The buffer is a buffer external to the processor.
  45. 一种无人飞行器，其特征在于，包括：An unmanned aerial vehicle, comprising:
    拍摄设备，用于获取视频数据；a photographing device for acquiring video data;
    处理器，用于对所述视频数据进行编码；a processor, configured to encode the video data;
    通讯接口，用于向遥控设备发送编码后的视频数据；a communication interface, configured to send the encoded video data to the remote control device;
    其中，在所述处理器对所述视频数据进行编码之前，所述视频数据不经过缓冲器的缓存；或者Wherein, before the processor encodes the video data, the video data does not pass through a buffer of a buffer; or
    在所述通讯接口向遥控设备发送所述编码后的视频数据之前，所述编码后的视频数据不经过缓存器缓存。Before the communication interface sends the encoded video data to the remote control device, the encoded video data does not pass through the buffer buffer.
  46. 根据权利要求45所述的无人飞行器，其特征在于，An unmanned aerial vehicle according to claim 45, wherein
    所述缓冲器为所述处理器内部的缓冲器。The buffer is a buffer internal to the processor.
  47. 根据权利要求45所述的无人飞行器，其特征在于，An unmanned aerial vehicle according to claim 45, wherein
    所述缓冲器为所述处理器外部的缓冲器。The buffer is a buffer external to the processor.
  48. 根据权利要求45-47任一项所述的无人飞行器，其特征在于，所述处理器还用于：The UAV according to any one of claims 45 to 47, wherein the processor is further configured to:
    丢弃所述视频数据中的预设类型的图像帧；Discarding a preset type of image frame in the video data;
    所述处理器对所述视频数据进行编码时，具体用于：When the processor encodes the video data, it is specifically used to:
    对丢弃预设类型的图像帧后的视频数据进行编码。The video data after discarding the preset type of image frame is encoded.
  49. 根据权利要求48所述的无人飞行器，其特征在于，An unmanned aerial vehicle according to claim 48, wherein
    所述预设类型的图像帧至少包括双向预测编码帧和前向预测编码帧中的一种。The preset type of image frame includes at least one of a bidirectional predictive coding frame and a forward predictive coding frame.
  50. 根据权利要求45-49任一项所述的无人飞行器，其特征在于，所述处理器还用于：The UAV according to any one of claims 45 to 49, wherein the processor is further configured to:
    将所述视频数据中的每一帧图像划分成多个片元；Dividing each frame image in the video data into a plurality of slices;
    所述处理器对所述视频数据进行编码时，具体用于：When the processor encodes the video data, it is specifically used to:
    对所述视频数据中每一帧图像划分得到的片元进行编码； Encoding a slice obtained by dividing each frame of the video data;
    所述通讯接口向遥控设备发送编码后的视频数据时，具体用于：When the communication interface sends the encoded video data to the remote control device, it is specifically used to:
    向遥控设备发送每一个编码后的片元。Each encoded fragment is sent to the remote control device.
  51. 一种遥控设备，其特征在于，包括：A remote control device, comprising:
    通讯接口，用于接收无人飞行器发送的编码后的视频数据；a communication interface for receiving encoded video data sent by the UAV;
    处理器，用于将所述编码后的视频数据发送给终端设备；a processor, configured to send the encoded video data to a terminal device;
    其中，所述通讯接口接收无人飞行器发送的编码后的视频数据之后，所述视频数据不经过缓冲器的缓存；或者After the communication interface receives the encoded video data sent by the UAV, the video data does not pass through the buffer of the buffer; or
    所述处理器将所述编码后的视频数据发送给终端设备之前，所述视频数据不经过缓冲器的缓存。Before the processor sends the encoded video data to the terminal device, the video data does not pass through the buffer of the buffer.
  52. 根据权利要求51所述的遥控设备，其特征在于，所述缓冲器为所述处理器内部的缓冲器；或者，The remote control device according to claim 51, wherein said buffer is a buffer inside said processor; or
    所述缓冲器为所述处理器外部的缓冲器。The buffer is a buffer external to the processor.
  53. 一种终端设备，其特征在于，包括：通讯接口和处理器；A terminal device, comprising: a communication interface and a processor;
    所述通讯接口用于接收遥控设备发送的编码视频数据，所述编码视频数据是对无人飞行器搭载的拍摄设备拍摄的视频数据进行编码得到的；The communication interface is configured to receive encoded video data sent by a remote control device, where the encoded video data is obtained by encoding video data captured by a shooting device carried by an unmanned aerial vehicle;
    所述处理器用于：The processor is used to:
    对所述编码视频数据进行解码得到所述视频数据；Decoding the encoded video data to obtain the video data;
    丢弃所述视频数据中的预设类型的图像帧；Discarding a preset type of image frame in the video data;
    对丢弃预设类型的图像帧后的视频数据进行编码；Encoding the video data after discarding the preset type of image frame;
    向流媒体服务器发送编码后的视频数据。The encoded video data is sent to the streaming server.
  54. 根据权利要求53所述的终端设备，其特征在于，The terminal device according to claim 53, wherein
    所述预设类型的图像帧至少包括双向预测编码帧和前向预测编码帧中的一种。The preset type of image frame includes at least one of a bidirectional predictive coding frame and a forward predictive coding frame.
  55. 根据权利要求53或54所述的终端设备，其特征在于，所述处理器丢弃所述视频数据中的预设类型的图像帧之后，还用于：The terminal device according to claim 53 or 54, wherein after the processor discards the image frame of the preset type in the video data, the processor is further configured to:
    将丢弃预设类型的图像帧后的视频数据中的每一帧图像划分成多个片元；Dividing each frame image of the video data after discarding the preset type of image frame into a plurality of slices;
    所述处理器对丢弃预设类型的图像帧后的视频数据进行编码时，具体用于： When the processor encodes the video data after discarding the preset type of image frame, the processor is specifically configured to:
    对所述视频数据中每一帧图像划分得到的片元进行编码；Encoding a slice obtained by dividing each frame of the video data;
    所述处理器向流媒体服务器发送编码后的视频数据时，具体用于：When the processor sends the encoded video data to the streaming media server, it is specifically used to:
    向流媒体服务器发送每一个编码后的片元。Each encoded fragment is sent to the streaming server.
  56. 根据权利要求53-55任一项所述的终端设备，其特征在于，A terminal device according to any one of claims 53-55, characterized in that
    在所述处理器对所述编码视频数据进行解码之前，所述编码视频数据不经过缓冲器的缓存；或者The encoded video data does not pass through the buffer of the buffer before the processor decodes the encoded video data; or
    在所述处理器向流媒体服务器发送编码后的视频数据之前，所述编码后的视频数据不经过缓存器缓存。The encoded video data is not buffered by the buffer until the processor sends the encoded video data to the streaming server.
  57. 根据权利要求56所述的终端设备，其特征在于，The terminal device according to claim 56, characterized in that
    所述缓冲器为所述处理器内部的缓冲器。The buffer is a buffer internal to the processor.
  58. 根据权利要求56所述的终端设备，其特征在于，The terminal device according to claim 56, characterized in that
    所述缓冲器为所述处理器外部的缓冲器。The buffer is a buffer external to the processor.
  59. 一种终端设备，其特征在于，包括：通讯接口、处理器；A terminal device, comprising: a communication interface, a processor;
    所述通讯接口用于接收遥控设备发送的编码视频数据，所述编码视频数据是对无人飞行器搭载的拍摄设备拍摄的视频数据进行编码得到的；The communication interface is configured to receive encoded video data sent by a remote control device, where the encoded video data is obtained by encoding video data captured by a shooting device carried by an unmanned aerial vehicle;
    所述处理器用于：The processor is used to:
    对所述编码视频数据进行解码得到所述视频数据；Decoding the encoded video data to obtain the video data;
    对所述视频数据进行编码；及Encoding the video data; and
    向流媒体服务器发送编码后的视频数据；Sending the encoded video data to the streaming server;
    其中，在所述处理器对所述编码视频数据进行解码之前，所述编码视频数据不经过缓冲器的缓存；或者Wherein, before the processor decodes the encoded video data, the encoded video data does not pass through a buffer of a buffer; or
    在所述处理器向流媒体服务器发送所述编码后的视频数据之前，所述编码后的视频数据不经过缓存器缓存。The encoded video data is not buffered by the buffer before the processor sends the encoded video data to the streaming server.
  60. 根据权利要求59所述的终端设备，其特征在于，The terminal device according to claim 59, characterized in that
    所述缓冲器为所述处理器内部的缓冲器。The buffer is a buffer internal to the processor.
  61. 根据权利要求59所述的终端设备，其特征在于，The terminal device according to claim 59, characterized in that
    所述缓冲器为所述处理器外部的缓冲器。The buffer is a buffer external to the processor.
  62. 根据权利要求59-61任一项所述的终端设备，其特征在于，所述处理器还用于： The terminal device according to any one of claims 59 to 61, wherein the processor is further configured to:
    丢弃所述视频数据中的预设类型的图像帧；Discarding a preset type of image frame in the video data;
    所述处理器对所述视频数据进行编码时，具体用于：When the processor encodes the video data, it is specifically used to:
    对丢弃预设类型的图像帧后的视频数据进行编码。The video data after discarding the preset type of image frame is encoded.
  63. 根据权利要求62所述的终端设备，其特征在于，The terminal device according to claim 62, characterized in that
    所述预设类型的图像帧至少包括双向预测编码帧和前向预测编码帧中的一种。The preset type of image frame includes at least one of a bidirectional predictive coding frame and a forward predictive coding frame.
  64. 根据权利要求59-63任一项所述的终端设备，其特征在于，所述处理器还用于：The terminal device according to any one of claims 59 to 63, wherein the processor is further configured to:
    将所述视频数据中的每一帧图像划分成多个片元；Dividing each frame image in the video data into a plurality of slices;
    所述处理器对所述视频数据进行编码时，具体用于：When the processor encodes the video data, it is specifically used to:
    对所述视频数据中每一帧图像划分得到的片元进行编码；Encoding a slice obtained by dividing each frame of the video data;
    所述处理器向流媒体服务器发送编码后的视频数据时，具体用于：When the processor sends the encoded video data to the streaming media server, it is specifically used to:
    向流媒体服务器发送每一个编码后的片元。Each encoded fragment is sent to the streaming server.
  65. 一种流媒体服务器，其特征在于，包括：通讯接口和处理器；A streaming media server, comprising: a communication interface and a processor;
    所述通讯接口用于接收终端设备发送的编码视频数据,所述编码视频数据是对无人飞行器搭载的拍摄设备拍摄的视频数据进行编码得到的；The communication interface is configured to receive encoded video data sent by the terminal device, where the encoded video data is obtained by encoding video data captured by a shooting device carried by the unmanned aerial vehicle;
    所述处理器用于：The processor is used to:
    对所述编码视频数据进行解码得到所述视频数据；Decoding the encoded video data to obtain the video data;
    丢弃所述视频数据中的预设类型的图像帧；Discarding a preset type of image frame in the video data;
    对丢弃预设类型的图像帧后的视频数据进行编码；Encoding the video data after discarding the preset type of image frame;
    向远端设备发送编码后的视频数据。The encoded video data is sent to the remote device.
  66. 根据权利要求65所述的流媒体服务器，其特征在于，A streaming server according to claim 65, wherein
    所述预设类型的图像帧至少包括双向预测编码帧和前向预测编码帧中的一种。The preset type of image frame includes at least one of a bidirectional predictive coding frame and a forward predictive coding frame.
  67. 根据权利要求65或66所述的流媒体服务器，其特征在于，所述处理器丢弃所述视频数据中的预设类型的图像帧之后，还用于：The streaming media server according to claim 65 or claim 66, wherein after the processor discards the preset type of image frame in the video data, the processor is further configured to:
    将丢弃预设类型的图像帧后的视频数据中的每一帧图像划分成多个片元；Dividing each frame image of the video data after discarding the preset type of image frame into a plurality of slices;
    所述处理器对丢弃预设类型的图像帧后的视频数据进行编码时，具体用于： When the processor encodes the video data after discarding the preset type of image frame, the processor is specifically configured to:
    对所述视频数据中每一帧图像划分得到的片元进行编码；Encoding a slice obtained by dividing each frame of the video data;
    所述处理器向远端设备发送编码后的视频数据时，具体用于：When the processor sends the encoded video data to the remote device, it is specifically used to:
    向远端设备发送每一个编码后的片元。Each encoded fragment is sent to the remote device.
  68. 根据权利要求65-67任一项所述的流媒体服务器，其特征在于，A streaming media server according to any of claims 65-67, wherein
    在所述处理器对所述编码视频数据进行解码之前，所述编码视频数据不经过缓冲器的缓存；或者The encoded video data does not pass through the buffer of the buffer before the processor decodes the encoded video data; or
    在所述处理器向远端设备发送编码后的视频数据之前，所述编码后的视频数据不经过缓存器缓存。The encoded video data is not buffered by the buffer until the processor sends the encoded video data to the remote device.
  69. 根据权利要求68所述的流媒体服务器，其特征在于，所述缓冲器为所述处理器内部的缓冲器。The streaming server according to claim 68, wherein said buffer is a buffer internal to said processor.
  70. 根据权利要求68所述的流媒体服务器，其特征在于，所述缓冲器为所述处理器外部的缓冲器。The streaming server according to claim 68, wherein said buffer is a buffer external to said processor.
  71. 一种流媒体服务器，其特征在于，包括：通讯接口、处理器；A streaming media server, comprising: a communication interface and a processor;
    所述通讯接口用于接收终端设备发送的编码视频数据，所述编码视频数据是对无人飞行器搭载的拍摄设备拍摄的视频数据进行编码得到的；The communication interface is configured to receive encoded video data sent by the terminal device, where the encoded video data is obtained by encoding video data captured by a shooting device carried by the unmanned aerial vehicle;
    所述处理器用于：The processor is used to:
    对所述编码视频数据进行解码得到所述视频数据；Decoding the encoded video data to obtain the video data;
    对所述视频数据进行编码；及Encoding the video data; and
    向远端设备发送编码后的视频数据；Sending the encoded video data to the remote device;
    其中，在所述处理器对所述编码视频数据进行解码之前，所述编码视频数据不经过缓冲器的缓存；或者Wherein, before the processor decodes the encoded video data, the encoded video data does not pass through a buffer of a buffer; or
    在所述处理器向远端设备发送编码后的视频数据之前，所述编码后的视频数据不经过缓存器缓存。The encoded video data is not buffered by the buffer until the processor sends the encoded video data to the remote device.
  72. 根据权利要求71所述的流媒体服务器，其特征在于，A streaming server according to claim 71, wherein
    所述缓冲器为所述处理器内部的缓冲器。The buffer is a buffer internal to the processor.
  73. 根据权利要求71所述的流媒体服务器，其特征在于，A streaming server according to claim 71, wherein
    所述缓冲器为所述处理器外部的缓冲器。The buffer is a buffer external to the processor.
  74. 根据权利要求71-73任一项所述的流媒体服务器，其特征在于，所述处理器还用于： The streaming media server according to any one of claims 71 to 73, wherein the processor is further configured to:
    丢弃所述视频数据中的预设类型的图像帧；Discarding a preset type of image frame in the video data;
    所述处理器对所述视频数据进行编码时，具体用于：When the processor encodes the video data, it is specifically used to:
    对丢弃预设类型的图像帧后的视频数据进行编码。The video data after discarding the preset type of image frame is encoded.
  75. 根据权利要求74所述的流媒体服务器，其特征在于，所述预设类型的图像帧至少包括双向预测编码帧和前向预测编码帧中的一种。The streaming server according to claim 74, wherein said preset type of image frame comprises at least one of a bidirectional predictive coded frame and a forward predictive coded frame.
  76. 根据权利要求71-75任一项所述的流媒体服务器，其特征在于，所述处理器还用于：The streaming media server according to any one of claims 71 to 75, wherein the processor is further configured to:
    将所述视频数据中的每一帧图像划分成多个片元；Dividing each frame image in the video data into a plurality of slices;
    所述处理器对所述视频数据进行编码时，具体用于：When the processor encodes the video data, it is specifically used to:
    对所述视频数据中每一帧图像划分得到的片元进行编码；Encoding a slice obtained by dividing each frame of the video data;
    所述处理器向远端设备发送所述编码后的视频数据时，具体用于：When the processor sends the encoded video data to the remote device, it is specifically used to:
    向远端设备发送每一个编码后的片元。Each encoded fragment is sent to the remote device.
  77. 一种视频传输系统，其特征在于，包括：A video transmission system, comprising:
    如权利要求39-50任一项所述的无人飞行器；An unmanned aerial vehicle according to any one of claims 39-50;
    如权利要求51或52所述的遥控设备；A remote control device according to claim 51 or 52;
    如权利要求53-64任一项的终端设备；A terminal device according to any of claims 53-64;
    如权利要求65-76任一项的流媒体服务器。 A streaming server according to any of claims 65-76.
PCT/CN2017/094845 2017-07-28 2017-07-28 Video transmission method, device, and system WO2019019128A1 (en)

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