CN108702511A - Method, equipment and the system of transmission of video - Google Patents

Method, equipment and the system of transmission of video Download PDF

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Publication number
CN108702511A
CN108702511A CN201780012819.1A CN201780012819A CN108702511A CN 108702511 A CN108702511 A CN 108702511A CN 201780012819 A CN201780012819 A CN 201780012819A CN 108702511 A CN108702511 A CN 108702511A
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China
Prior art keywords
video data
processor
buffer
frame
encoded
Prior art date
Legal status (The legal status 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 status listed.)
Pending
Application number
CN201780012819.1A
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Chinese (zh)
Inventor
熊川樘
李泽飞
范礼明
吴智强
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Shenzhen Dajiang Innovations Technology Co Ltd
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Shenzhen Dajiang Innovations Technology Co Ltd
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Publication of CN108702511A publication Critical patent/CN108702511A/en
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Classifications

    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B64U10/13—Flying platforms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2201/00—UAVs characterised by their flight controls
    • B64U2201/20—Remote controls

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  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Mechanical Engineering (AREA)
  • Remote Sensing (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Two-Way Televisions, Distribution Of Moving Picture Or The Like (AREA)
  • Compression Or Coding Systems Of Tv Signals (AREA)

Abstract

The embodiment of the present invention provides a kind of method of transmission of video, equipment and system, this method:Video data is obtained by the capture apparatus that unmanned vehicle carries, the picture frame of preset kind in the video data is abandoned, the video data after picture frame to abandoning preset kind encodes, and the video data after coding is sent to remote control equipment, it is abandoned by the picture frame to preset kind, reduce the operand of Video coding, reduce the transmission quantity of the video data after coding simultaneously, both the video encoding time of unmanned vehicle had been saved, transmission time of the video data after coding from unmanned vehicle to remote control equipment is saved again, in addition, also save the time of remote equipment decoding video data, and reduce the complexity of remote equipment decoding video data, so as to shorten the time delay of net cast.

Description

Video transmission method, device and system
Technical Field
The embodiment of the invention relates to the field of video transmission, in particular to a method, equipment and a system for video transmission.
Background
In the prior art, an unmanned aerial vehicle can be used for aerial photography after being equipped with a shooting device, a communication system of the unmanned aerial vehicle can send images or videos shot by the shooting device to a ground end, for example, a remote controller, and the remote controller can further send the images or videos to user equipment, for example, a mobile phone, a tablet computer, a computer and the like. After the user equipment is networked, the image or the video can be sent to a server on the network side, such as a cloud server, a server cluster, and the like, and a player of a remote user can access the server, acquire the image or the video from the server, and play the image or the video.
Because each frame of image of the video needs to pass through a plurality of devices and a plurality of links when being transmitted from the unmanned aerial vehicle to the player, the transmission delay of each frame of image of the video from the unmanned aerial vehicle to the player is larger, and the live broadcast delay of the video is larger.
Disclosure of Invention
The embodiment of the invention provides a method, equipment and a system for video transmission, which are used for shortening the time delay of live video.
The first aspect of the embodiments of the present invention provides a method for video transmission, which is applied to an unmanned aerial vehicle, and includes:
acquiring video data through shooting equipment carried by an unmanned aerial vehicle;
discarding, by a processor, a preset type of image frame in the video data;
encoding, by a processor, video data from which a preset type of image frame is discarded;
and sending the coded video data to the remote control equipment through the communication interface.
A second aspect of the embodiments of the present invention is to provide a method for video transmission, which is applied to an unmanned aerial vehicle, and includes:
acquiring video data through shooting equipment carried by an unmanned aerial vehicle;
encoding, by a processor, the video data;
sending the coded video data to the remote control equipment through the communication interface;
wherein the video data is not buffered by a buffer prior to encoding the video data by a processor; or
Before the encoded video data is sent to the remote control device through the communication interface, the encoded video data is not cached in the cache.
A third aspect of the embodiments of the present invention is to provide a method for video transmission, which is applied to a remote control device, and includes:
receiving encoded video data sent by the unmanned aerial vehicle through a communication interface;
sending the encoded video data to terminal equipment through a processor;
after the coded video data sent by the unmanned aerial vehicle are received through the communication interface, the video data do not pass through the buffer of the buffer; or
Before the encoded video data is sent to the terminal device through the processor, the video data is not buffered by a buffer.
A fourth aspect of the embodiments of the present invention is to provide a video transmission method, which is applied to a terminal device connected to a remote control device, and includes:
receiving encoded video data sent by remote control equipment through a communication interface, wherein the encoded video data is obtained by encoding video data shot by shooting equipment carried by an unmanned aerial vehicle;
decoding the encoded video data by a processor to obtain the video data;
discarding, by a processor, a preset type of image frame in the video data;
encoding, by a processor, video data from which a preset type of image frame is discarded;
and sending the encoded video data to a streaming media server through a processor.
A fifth aspect of the embodiments of the present invention is to provide a video transmission method, which is applied to a terminal device connected to a remote control device, and includes:
receiving encoded video data sent by remote control equipment through a communication interface, wherein the encoded video data is obtained by encoding video data shot by shooting equipment carried by an unmanned aerial vehicle;
decoding the encoded video data by a processor to obtain the video data;
encoding, by a processor, the video data;
sending the encoded video data to a streaming media server through a processor;
wherein the encoded video data is not buffered by a buffer prior to being decoded by a processor; or
Before the encoded video data is sent to the streaming media server through the processor, the encoded video data is not buffered by the buffer.
A sixth aspect of the embodiments of the present invention provides a method for video transmission, which is applied to a streaming media server, and includes:
receiving encoded video data sent by terminal equipment through a communication interface, wherein the encoded video data is obtained by encoding video data shot by shooting equipment carried by an unmanned aerial vehicle;
decoding the encoded video data by a processor to obtain the video data;
discarding, by a processor, a preset type of image frame in the video data;
encoding, by a processor, video data from which a preset type of image frame is discarded;
the encoded video data is transmitted by the processor to a remote device.
A seventh aspect of the embodiments of the present invention provides a method for video transmission, which is applied to a streaming media server, and includes:
receiving encoded video data sent by terminal equipment through a communication interface, wherein the encoded video data is obtained by encoding video data shot by shooting equipment carried by an unmanned aerial vehicle;
decoding the encoded video data by a processor to obtain the video data;
encoding, by a processor, the video data;
transmitting the encoded video data to a remote device through a processor;
wherein the encoded video data is not buffered by a buffer prior to being decoded by a processor; or
The encoded video data is not buffered by the buffer before being sent to the remote device by the processor.
An eighth aspect of embodiments of the present invention is to provide an unmanned aerial vehicle, including:
the shooting equipment is used for acquiring video data;
a processor for discarding a preset type of image frame in the video data; and
encoding video data after discarding a preset type of image frame;
and the communication interface is used for sending the coded video data to the remote control equipment.
A ninth aspect of an embodiment of the present invention is to provide an unmanned aerial vehicle, including:
the shooting equipment is used for acquiring video data;
a processor for encoding the video data;
the communication interface is used for sending the coded video data to the remote control equipment;
wherein the video data is not buffered by a buffer before the processor encodes the video data; or
Before the communication interface sends the encoded video data to the remote control device, the encoded video data is not cached by a cache.
A tenth aspect of the embodiments of the present invention provides a remote control device, including:
the communication interface is used for receiving the coded video data sent by the unmanned aerial vehicle;
the processor is used for sending the coded video data to terminal equipment;
after the communication interface receives the coded video data sent by the unmanned aerial vehicle, the video data does not pass through the cache of the buffer; or
Before the processor sends the coded video data to the terminal equipment, the video data is not cached in a buffer.
An eleventh aspect of embodiments of the present invention provides a terminal device, including: a communication interface and a processor;
the communication interface is used for receiving coded video data sent by the remote control equipment, and the coded video data is obtained by coding video data shot by shooting equipment carried by the unmanned aerial vehicle;
the processor is configured to:
decoding the encoded video data to obtain the video data;
discarding a preset type of image frame in the video data;
encoding video data after discarding a preset type of image frame;
and sending the coded video data to a streaming media server.
A twelfth aspect of an embodiment of the present invention provides a terminal device, including: a communication interface and a processor;
the communication interface is used for receiving coded video data sent by the remote control equipment, and the coded video data is obtained by coding video data shot by shooting equipment carried by the unmanned aerial vehicle;
the processor is configured to:
decoding the encoded video data to obtain the video data;
encoding the video data; and
sending the encoded video data to a streaming media server;
wherein the encoded video data is not buffered by a buffer before the processor decodes the encoded video data; or
Before the processor sends the encoded video data to a streaming media server, the encoded video data is not cached by a buffer.
A thirteenth aspect of an embodiment of the present invention provides a streaming media server, including: a communication interface and a processor;
the communication interface is used for receiving encoded video data sent by the terminal equipment, and the encoded video data is obtained by encoding video data shot by shooting equipment carried by the unmanned aerial vehicle;
the processor is configured to:
decoding the encoded video data to obtain the video data;
discarding a preset type of image frame in the video data;
encoding video data after discarding a preset type of image frame;
and transmitting the encoded video data to the remote device.
A fourteenth aspect of an embodiment of the present invention provides a streaming media server, including: a communication interface and a processor;
the communication interface is used for receiving encoded video data sent by the terminal equipment, and the encoded video data is obtained by encoding video data shot by shooting equipment carried by the unmanned aerial vehicle;
the processor is configured to:
decoding the encoded video data to obtain the video data;
encoding the video data; and
transmitting the encoded video data to a remote device;
wherein the encoded video data is not buffered by a buffer before the processor decodes the encoded video data; or
Before the processor sends the encoded video data to the remote device, the encoded video data is not buffered by the buffer.
A fifteenth aspect of an embodiment of the present invention provides a video transmission system, including:
the unmanned aerial vehicle of the eighth aspect or the ninth aspect;
the remote control device of the tenth aspect;
the terminal device of the eleventh or twelfth aspect;
the streaming media server according to the thirteenth aspect or the fourteenth aspect.
According to the method, the device and the system for video transmission, video data are obtained through shooting equipment carried by an unmanned aerial vehicle, preset type image frames in the video data are discarded, the video data with the preset type image frames discarded are coded, the coded video data are sent to the remote control device, the preset type image frames are discarded, the calculation amount of video coding is reduced, meanwhile, the transmission amount of the coded video data is reduced, the video coding time of the unmanned aerial vehicle is saved, the transmission time of the coded video data from the unmanned aerial vehicle to the remote control device is also saved, in addition, the time for decoding the video data by the remote equipment is also saved, the complexity for decoding the video data by the remote equipment is reduced, and therefore the time delay of live video broadcasting is shortened.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive labor.
Fig. 1 is a schematic structural diagram of a video transmission system 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 video transmission system 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 flow chart of video data processing according to an embodiment of the present invention;
FIG. 6 is a flow chart 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 flow chart of another video data processing provided by 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 video transmission system according to an embodiment of the present invention;
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 video transmission system according to an embodiment of the present invention;
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 video transmission system according to an embodiment of the present invention;
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 block diagram of an unmanned aerial vehicle according to an embodiment of the present invention.
Reference numerals:
11-unmanned aerial vehicle 12-remote control equipment 13-terminal equipment
14-base station 15-remote server 16-remote device
110-cloud deck 111-shooting equipment 112-processor 113-communication interface
50-video data 51-video data 52-slice 53-encoded slice
91-video data 92-slice 93-encoded slice
121-communication interface 122-processor 123-communication interface
131-communication interface 132-processor 133-communication interface
17-streaming media server 171-communication interface 172-processor
173-communication interface 18-server
200-unmanned aerial vehicle 206-propeller 207-motor
208-processor 209-electronic governor 205-communication interface
202-support device 204-shooting device
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When a component is referred to as being "connected" to another component, it can be directly connected to the other component or intervening components may also be present.
Unless defined otherwise, 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. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
Some embodiments of the invention are described in detail below with reference to the accompanying drawings. The embodiments described below and the features of the embodiments can be combined with each other without conflict.
As shown in fig. 1, the unmanned aerial vehicle 11 is equipped with a shooting device 111 through a pan/tilt head 110, the shooting device 111 is used for shooting images or videos, the unmanned aerial vehicle 11 transmits image information or video data shot by the shooting device 111 to a remote control device 12 on the ground, and a flying hand can control the unmanned aerial vehicle 11 to fly through the remote control device 12. In addition, the remote control device 12 may also communicate with the terminal device 13, the communication mode may be wired communication or wireless communication, the remote control device 12 communicates with the terminal device 13 through the remote control device 12, the remote control device 12 sends the image information or the video data sent by the unmanned aerial vehicle 11, which is received by the remote control device, to the terminal device 13, the terminal device 13 may specifically be a mobile phone, a tablet computer, a notebook computer, and the like, and the mobile phone is taken as an example in this embodiment. The image information or video data captured by the imaging device 111 mounted on the unmanned aerial vehicle 11 can be viewed by the aircraft 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 transmitted through the terminal device 13 to the remote server 15 through the base station 14, the remote server 15 may specifically be a streaming server, the remote server 15 is in communication with the remote device 16, and the remote device 16 acquires the image information or video data from the remote server 15.
As can be known from fig. 1, each frame of image shot by the shooting device 111 needs to sequentially pass through the unmanned aerial vehicle 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 one or more of the unmanned aerial vehicle 11, the remote control device 12, the terminal device 13, the base station 14, and the remote server 15 may put each frame of image into a buffer for buffering, the transmission delay of each frame of image from the unmanned aerial vehicle 11 to the remote device 16 is large, in addition, each frame of image from the unmanned aerial vehicle 11 to the remote device 16 needs to pass through a plurality of communication links, and if the transmission rates of the plurality of communication links are low, the transmission delay of each frame of image is further increased. For video data, the remote user may wish to view smooth video data through the remote device 16, and the remote user may not view smooth video data due to the delay of live video broadcast caused by the delay of transmission of each frame of image. In order to solve the problem, the present embodiment provides a method for video transmission, and the method for video transmission is described below with reference to specific embodiments.
The embodiment of the invention provides a video transmission method. Fig. 2 is a flowchart of a video transmission method according to an embodiment of the present invention. The method for video transmission provided by the embodiment of the invention is applied to an unmanned aerial vehicle, and as shown in fig. 2, the method in the embodiment may include:
and step S201, acquiring video data through shooting equipment carried by the unmanned aerial vehicle.
The execution subject of the method of the embodiment may be an unmanned aerial vehicle, and specifically may be a processor in the unmanned aerial vehicle, where the processor may be a general-purpose or special-purpose processor, and may also be a flight controller.
As shown in fig. 3, the unmanned aerial vehicle 11 is equipped with a shooting device 111 through a cradle head 110, the shooting device 111 is used for shooting images or videos, and a processor 112 in the unmanned aerial vehicle 11 can acquire video data shot by the shooting device 111, for example, the shooting device 111 transmits the video data shot by the shooting device 111 to the processor 112 in real time. In this embodiment, the video data captured by the capturing device 111 may include different types of image frames, for example, an intra-frame (intra picture) frame is referred to as an I frame, a forward-prediction frame (predictive-frame) is referred to as a P frame, and a bi-directional prediction frame (bi-directional prediction frame) is referred to as a B frame, where the I frame may be regarded as a result of compressing a frame of image itself, and a complete image may be reconstructed by using only data of the I frame during decoding. When a frame image is compressed into a P frame, the frame needs to be compressed according to the different points between the frame and the adjacent previous frame (I frame or B frame), and when the frame is decoded, a complete frame image needs to be generated by combining the P frame and the adjacent previous frame (I frame or B frame). When compressing a frame of image into a B frame, it is necessary to compress the frame according to the different points of the adjacent previous frame, the frame and the next frame data, that is, only the difference between the frame and the previous and next frames is recorded, and when decoding, it is necessary to combine the B frame, the adjacent previous frame (I frame or P frame) and the next frame (P frame) to generate a complete frame of image.
Step S202, discarding preset type image frames in the video data through a processor.
In the present embodiment, when the processor 112 in the unmanned aerial vehicle 11 acquires video data captured by the capturing device 111, a preset type of image frame 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 this embodiment, the processor 112 discards bi-directionally predictively encoded frames, i.e., B-frames, in the video data. Since B frames need to refer to the previous and subsequent frames to complete decoding, if a B frame needs to refer to the 10 subsequent frames to complete decoding, decoding a B frame will cause a delay of 10 frames. In other embodiments, the processor 112 may drop forward predictive coded frames, i.e., P-frames, in the video data, or the processor 112 may drop partial B-frames and partial P-frames.
And step S203, encoding the video data with the preset type of image frame discarded through the processor.
The processor 112 encodes the video data after discarding the B frame to obtain encoded video data, and the embodiment does not limit a specific encoding method.
And step S204, sending the coded video data to the remote control equipment through the communication interface.
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 sends the encoded video data to the terminal device 13, the terminal device 13 sends the encoded video data to the remote server 15 through the base station 14, the remote device 16 obtains the encoded video data from the remote server 15 and decodes the encoded video data, and since the encoded video data does not include a B frame, the remote device 16 can decode the current frame to obtain a complete image and display the complete image without referring to a frame after the current frame when decoding the encoded video data.
In the embodiment, the video data is acquired through the shooting equipment carried by the unmanned aerial vehicle, the preset type image frame in the video data is discarded, the video data after the preset type image frame is discarded is coded, the coded video data is sent to the remote control equipment, the preset type image frame is discarded, the calculation amount of video coding is reduced, meanwhile, the transmission amount of the coded video data is reduced, the video coding time of the unmanned aerial vehicle is saved, the transmission time of the coded video data from the unmanned aerial vehicle to the remote control equipment is also saved, in addition, the time for the remote equipment to decode the video data is also saved, the complexity for the remote equipment to decode the video data is reduced, and the time delay of live video is shortened.
The embodiment of the invention provides a video transmission method. Fig. 4 is a flowchart of a video transmission method 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:
and S401, acquiring video data through shooting equipment carried by the unmanned aerial vehicle.
As shown in fig. 3 and 5, 50 represents video data captured by the capturing device 111 acquired by the processor 112 in the unmanned aerial vehicle 11, the video data includes a number of I frames, B frames, and P frames, which are indicated schematically and do not limit the number of image frames in the video data, nor the number of I frames, B frames, and P frames.
And S402, discarding preset types of image frames in the video data through a processor.
Optionally, the processor 112 discards the B frame in the video data to obtain the video data shown in 51, as shown in fig. 5, the video data 51 includes only I frame and P frame.
Step S403, dividing each frame image in the video data after discarding the preset type of image frame into a plurality of fragments by the processor.
The processor 112 may divide each frame of image in the video data 51 into a plurality of slices 52, and the embodiment does not limit the specific dividing manner for each frame of image.
And S404, coding the fragments obtained by dividing each frame of image in the video data through the processor.
The processor 112 specifically encodes the slice 52 obtained by dividing each frame of image in the video data 51, and encodes each slice 52 to obtain the encoded slice 53.
And S405, sending each coded fragment to remote control equipment through the communication interface.
Processor 112 may send each encoded fragment 53 to remote control device 12 via communication interface 113. The encoded patch 53 is smaller in data amount 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 patch 53 can be normally transmitted from the unmanned aerial vehicle 11 to the remote control device 12.
Further, the remote control device 12 sends each encoded fragment 53 to the terminal device 13, the terminal device 13 sends each encoded fragment 53 to the remote server 15 through the base station 14, the remote device 16 acquires each encoded fragment 53 from the remote server 15 and decodes each encoded fragment 53, and since each encoded fragment 53 does not include a B frame, the remote device 16 can decode the current frame without referring to a frame following the current frame to obtain a complete image and display the complete image when decoding the encoded video data.
Optionally, before discarding, by the processor, a preset type of image frame in the video data, the video data is not buffered by a buffer; or before the coded video data is sent to the remote control equipment through the communication interface, the coded video data is not cached in the buffer. Specifically, the processor 112 acquires video data from the shooting device 111, and the video data is not buffered by a buffer before B frames in the video data are discarded; alternatively, processor 112 may not buffer encoded slice 53 prior to sending encoded slice 53 to remote control device 12 via communication interface 113. That is, the processor 112 acquires the video data from the shooting device 111 in real time, discards the B frame in the video data, divides the video data after discarding the B frame into the fragments 52, encodes each fragment 52 to obtain the encoded fragment 53, and immediately sends the encoded fragment 53 to the remote control device 12, so as to avoid increasing the time delay of live video due to buffering the video data and/or buffering the encoded fragment.
Optionally, the buffer is a buffer inside the processor 112. Alternatively, the buffer is a buffer external to the processor 112.
In the embodiment, before discarding the preset type of image frame in the video data, the video data does not undergo buffering in the buffer; or before the coded video data is sent to the remote control equipment through the communication interface, the coded video data is not cached in the cache, so that the time delay of live video broadcast is prevented from being increased due to the caching of the video data, and the time delay of live video broadcast is further shortened.
The embodiment of the invention provides a video transmission method. Fig. 6 is a flowchart of a video transmission method according to another embodiment of the present invention. The method for video transmission provided by the embodiment of the invention is applied to an unmanned aerial vehicle, and as shown in fig. 6, the method in the embodiment may include:
and S601, acquiring video data through shooting equipment carried by the unmanned aerial vehicle.
Step S601 is the same as step S201, and the detailed process is not described here again.
Step S602, encoding the video data by a processor.
With reference to fig. 3 and fig. 6, after the processor 112 in the unmanned aerial vehicle 11 acquires the video data from the shooting device 111, the video data is directly encoded, so that encoded video data is obtained.
And step S603, sending the coded video data to the remote control equipment through the communication interface.
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.
Wherein the video data is not buffered by a buffer prior to encoding the video data by a processor; or before the coded video data is sent to the remote control equipment through the communication interface, the coded video data is not cached in the buffer. Specifically, after the processor 112 acquires the video data from the shooting device 111, the video data does not undergo buffering in the buffer before the video data is encoded, or after the processor 112 encodes the video data, the video data does not undergo buffering in the buffer before the encoded video data is transmitted to the remote control device 12 through the communication interface 113 of the unmanned aerial vehicle 11.
The buffer is an internal buffer to the processor 112. Or the buffer may be external to the processor 112.
In the embodiment, before the video data shot by the shooting device is coded by the unmanned aerial vehicle, the video data does not pass through the buffer of the buffer; or before the unmanned aerial vehicle sends the coded video data to the remote control equipment, the coded video data is not cached in the cache, so that the time delay of live video broadcast caused by caching of the video data by the unmanned aerial vehicle is avoided.
The embodiment of the invention provides a video transmission method. Fig. 7 is a flowchart of a video transmission method 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:
and S701, acquiring video data through shooting equipment carried by the unmanned aerial vehicle.
Step S701 is the same as step S201, and the detailed process is not described here again.
Step S702, discarding preset type image frames in the video data through a processor.
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 the same as step S202, and the detailed process is not described here.
And step S703, encoding the video data with the preset type of image frame discarded by the processor.
Step S703 is the same as step S203, and the detailed process is not described here again.
And step S704, sending the coded video data to the remote control equipment through the communication interface.
Step S704 is identical to step S204, and the detailed process is not described herein again.
In the embodiment, the video data is acquired through the shooting equipment carried by the unmanned aerial vehicle, the preset type image frame in the video data is discarded, the video data after the preset type image frame is discarded is coded, the coded video data is sent to the remote control equipment, the preset type image frame is discarded, the calculation amount of video coding is reduced, meanwhile, the transmission amount of the coded video data is reduced, the video coding time of the unmanned aerial vehicle is saved, the transmission time of the coded video data from the unmanned aerial vehicle to the remote control equipment is also saved, in addition, the time for the remote equipment to decode the video data is also saved, the complexity for the remote equipment to decode the video data is reduced, and the time delay of live video is further shortened.
The embodiment of the invention provides a video transmission method. Fig. 8 is a flowchart of a video transmission method 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: each frame of image in the video data is divided into a plurality of slices by a processor. 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 each frame of image in the video data into a plurality of fragments by a processor.
As shown in fig. 9, 91 represents video data captured by the capturing device 111 acquired by the processor 112 in the unmanned aerial vehicle 11, the video data includes a number of I frames, B frames, and P frames, and the number of the image frames in the video data is not limited, and is not limited by the schematic illustration.
The processor 112 may divide each frame image in the video data 91 into a plurality of slices 92, and the embodiment does not limit the specific dividing 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, for example, discarding video data after B frame.
Accordingly, step S602 encodes, by the processor, the video data, and includes:
step S802, coding the fragments obtained by dividing each frame of image in the video data through a processor.
The processor 112 specifically encodes the slice 92 obtained by dividing each frame of image in the video data 91, and encodes each slice 92 to obtain the encoded slice 93.
Correspondingly, step S603 sends the encoded video data to the remote control device through the communication interface, including:
and step S803, each coded fragment is sent to the remote control equipment through the communication interface.
Processor 112 may send each encoded fragment 93 to remote control device 12 via communication interface 113. The encoded patch 93 has a smaller data amount than the encoded one-frame image, and the encoded patch 93 can be normally transmitted from the unmanned aerial vehicle 11 to the remote control device 12 when the bandwidth of the communication link from the unmanned aerial vehicle 11 to the remote control device 12 is not sufficiently high.
In the embodiment, each frame of image shot by the shooting device is divided through the processor of the unmanned aerial vehicle, the divided fragments are coded, the processor of the unmanned aerial vehicle sends each coded fragment to the remote control device through the communication interface, each coded fragment further reaches the remote device through the remote control device, the terminal device, the base station and the remote server, each coded fragment needs to pass through a plurality of communication links when reaching the remote device from the unmanned aerial vehicle, and when the bandwidth of part of or all links in the plurality of communication links is not high enough, the data volume of the coded fragment is smaller, so that the coded fragment can be normally transmitted to the remote device from the unmanned aerial vehicle, and the transmission delay caused by the insufficient bandwidth is avoided.
The embodiment of the invention provides a video transmission method. Fig. 10 is a flowchart of a method for video transmission according to an embodiment of the present invention. As shown in fig. 10, the method for video transmission provided in this embodiment of the present invention is applied to a remote control device, and may include:
and S1001, receiving the coded video data sent by the unmanned aerial vehicle through the communication interface.
The execution subject of the method of the embodiment may be a remote control device.
As shown in fig. 11, the remote control device 12 includes a communication interface 121, a processor 122, and a communication interface 123, and the processor 122 may be a general-purpose or a special-purpose processor. The processor 112 in the unmanned aerial vehicle 11 acquires video data shot by the shooting device 111 and encodes the video data to obtain encoded video data, the processor 112 sends the encoded video data to the remote control device 12 through the communication interface 113, and the communication interface 121 of the remote control device 12 receives the encoded video data sent by the communication interface 113 of the unmanned aerial vehicle 11.
And step S1002, sending the coded video data to terminal equipment through a 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, and specifically, the processor 122 controls the communication interface 123 to transparently transmit the encoded video data to the terminal device 13.
In this embodiment, the remote control device 12 and the terminal device 13 may be connected by a wire or wirelessly, for example, when 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, the communication interface 121 of the remote control device 12 is specifically a wireless communication interface, and the communication interface 123 of the remote control device 12 is specifically a wired communication interface.
After receiving the encoded video data sent by the unmanned aerial vehicle 11 through the communication interface 121, the video data does not undergo buffering in the buffer; or the video data is not buffered by the buffer before the encoded video data is sent to the terminal device 13 by the processor 122.
The buffer is an internal buffer of the processor 122; alternatively, the buffer is a buffer external to processor 122.
In the embodiment, after the encoded video data sent by the unmanned aerial vehicle is received through the communication interface by the remote control device, the video data does not pass through the cache of the buffer; or before the encoded video data is sent to the terminal equipment through the processor, the video data does not pass through the cache of the buffer, so that the time delay of live video broadcast caused by the cache of the remote control equipment on the video data is avoided.
The embodiment of the invention provides a video transmission method. Fig. 12 is a flowchart of a method for video transmission according to an embodiment of the present invention. As shown in fig. 12, the method for video transmission provided in this embodiment of the present invention is applied to a terminal device connected to a remote control device, and may include:
and step S1201, receiving the coded video data sent by the remote control equipment through the communication interface, wherein the coded video data is obtained by coding the video data shot by the shooting equipment carried by the unmanned aerial vehicle.
The execution subject of the method of the embodiment may be a terminal device connected with a remote control device.
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 a dedicated processor. The processor 112 in the unmanned aerial vehicle 11 acquires video data shot by the shooting device 111 and encodes the video data shot by the shooting device 111 to obtain encoded video data, the processor 112 in the unmanned aerial vehicle 11 sends the encoded video data to the remote control device 12 through the communication interface 113, the communication interface 121 of the remote control device 12 receives the encoded video data sent by the unmanned aerial vehicle 11, the remote control device 12 further transmits the encoded video data 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.
Alternatively, the encoded video data is transmitted from the unmanned aerial vehicle 11 to the terminal device 13 without being buffered by a buffer.
Step S1202, decoding the encoded video data by a processor to obtain the video data.
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 through the processor 132 to obtain decoded video data, and after the processor 132 decodes the encoded video data, further determines a frame type in the decoded video data, optionally, the frame type in the decoded video data includes: i frame, P frame, B frame.
And step S1203, discarding the preset type of image frames in the video data through 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 a preset type of image frame, for example, a B frame, in the video data through the processor 132, and the specific process is consistent with the process of discarding the preset type of image frame, for example, the B frame, by the processor 112, and is not described herein again.
And step S1204, encoding the video data with the preset type of image frame discarded by the processor.
The terminal device 13 encodes the video data after discarding the B frame in the above steps through the processor 132, and it can be understood that the terminal device 13 encodes the video data after discarding the B frame into video data in multiple formats through the processor 132, and optionally, the processor 132 encodes the video data after discarding the B frame into video data in an RTMP format.
And step S1205, sending the coded video data to a streaming media server through the processor.
The terminal device 13 sends encoded video data, for example, video data in an RTMP format, to the base station 14 through the processor 132, the base station 14 passes the encoded video data through to the streaming server 17, and specifically, the processor 132 controls the communication interface 133 to send the encoded video data to the base station 14. In this embodiment, the terminal device 13 may specifically be a mobile terminal, for example, a smart phone, where an application program is installed on the smart phone, the application program corresponds to a user interface, and a user may operate the user interface to control the smart phone to send encoded video data to a base station in real time.
In addition, after discarding, by the processor, a preset type of image frame in the video data in step S1203, the method further includes: dividing, by the processor, each frame image in the video data after discarding a preset type of image frame into a plurality of fragments; accordingly, the step S1204 of encoding, by the processor, the video data after discarding the preset type of image frame includes: coding the fragments obtained by dividing each frame of image in the video data through the processor; step S1205, sending the encoded video data to the streaming server through the processor, includes: and sending each coded fragment to a streaming media server through the processor.
The specific principle and implementation of discarding the B frame by the processor 132, dividing each frame image in the video data after discarding the B frame into a plurality of fragments, and encoding the fragments obtained by dividing each frame image are similar to those in the embodiment shown in fig. 4, and are not described here again. Terminal device 13 sends each encoded fragment to base station 14 through processor 132, and base station 14 passes through each encoded fragment to streaming media server 17, specifically, processor 132 controls communication interface 133 to send each encoded fragment to base station 14.
Furthermore, the encoded video data does not undergo buffering by a buffer before being decoded by the processor 132; or the encoded video data is not buffered by the buffer before being sent to the streaming server 17 via the processor 132. The buffer is an internal buffer to the processor 132. The buffer is a buffer external to processor 132.
In the embodiment, the encoded video data sent by the remote control device is received through the terminal device, the image frame of the preset type is discarded after the encoded video data is decoded, the video data after the image frame of the preset type is discarded is encoded, the encoded video data is sent to the streaming media server, and the discarding of the image frame of the preset type reduces the operation amount of video encoding and the transmission amount of the encoded video data, thereby saving the video encoding time of the terminal device, saving the transmission time of the encoded video data from the terminal device to the streaming media server, in addition, saving the time for the remote device to decode the video data, reducing the complexity for the remote device to decode the video data, and further shortening the time delay of live video. In addition, before the terminal equipment decodes the coded video data, the coded video data does not pass through the buffer of the buffer; or before the terminal equipment sends the coded video data to the streaming media server, the coded video data is not cached by the cache, so that the time delay of live video broadcast is prevented from being increased due to the caching of the video data by the terminal equipment, and the time delay of live video broadcast is further shortened.
The embodiment of the invention provides a video transmission method. Fig. 14 is a flowchart of a video transmission method according to an embodiment of the present invention. The method for video transmission provided in the embodiment of the present invention is applied to a terminal device connected to a remote control device, as shown in fig. 14, the method in the embodiment may include:
and S1401, receiving encoded video data sent by the remote control equipment through the communication interface, wherein the encoded video data is obtained by encoding video data shot by shooting equipment carried by the unmanned aerial vehicle.
The execution subject of the method of the embodiment may be a terminal device connected with a remote control device.
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 a dedicated processor. The processor 112 in the unmanned aerial vehicle 11 acquires video data shot by the shooting device 111 and encodes the video data shot by the shooting device 111 to obtain encoded video data, the processor 112 in the unmanned aerial vehicle 11 sends the encoded video data to the remote control device 12 through the communication interface 113, the communication interface 121 of the remote control device 12 receives the encoded video data sent by the unmanned aerial vehicle 11, the remote control device 12 further transmits the encoded video data 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.
Alternatively, the encoded video data is transmitted from the unmanned aerial vehicle 11 to the terminal device 13 without being buffered by a buffer.
Step S1402, decoding the encoded video data by the processor to obtain the video data.
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 through the processor 132 to obtain decoded video data.
Step S1403, the video data is encoded by the processor.
The terminal device 13 encodes the video data decoded in the above steps through the processor 132, and it can be understood that the terminal device 13 encodes the video data decoded in the above steps into video data in multiple formats through the processor 132, and optionally, the processor 132 encodes the video data into video data in an RTMP format.
And step S1404, sending the coded video data to a streaming media server through the processor.
The terminal device 13 sends encoded video data, for example, video data in an RTMP format, to the base station 14 through the processor 132, the base station 14 passes the encoded video data through to the streaming server 17, and specifically, the processor 132 controls the communication interface 133 to send the encoded video data to the base station 14.
It will be appreciated that the terminal equipment 13 and the base station 14 may communicate via a variety of network protocols. The predetermined network protocol may be one or more of a plurality of network protocols. The terminal device 13 communicates with the base station 14 according to a preset network protocol, so as to ensure the accuracy of the encoded video data transmission.
In some embodiments, the predetermined network protocol comprises an RTMP network protocol.
It is understood that the RTMP network protocol is a real-time messaging protocol. The video data is transmitted by using the RTMP network protocol, so that the video can be transmitted to the streaming server 17 in real time, and the remote device 16 can also acquire the video data in real time.
Wherein the encoded video data is not buffered by a buffer prior to being decoded by the processor 132; or the encoded video data is not buffered by the buffer before being sent to the streaming server 17 via the processor 132.
Optionally, the buffer is a buffer inside the processor 132. Alternatively, the buffer is a buffer external to processor 132.
Further, the method further comprises: discarding, by a processor, a preset type of image frame in the video data; the video data is the video data obtained by decoding the encoded video data through the processor in step S1402. Accordingly, the encoding the video data by the processor in step S1403 includes: video data after discarding a preset type of image frame is encoded by a processor. Optionally, the preset type of image frame at least includes one of a bidirectional predictive coding frame and a forward predictive coding frame. For example, the video data obtained by decoding the encoded video data by the terminal device 13 through the processor 132 includes an I frame, a P frame, and a B frame, the processor 132 discards the B frame in the decoded video data, and the specific principle and implementation manner of encoding the video data after discarding the B frame are similar to those in the embodiment shown in fig. 2, and are not described here again.
In other embodiments, the method further comprises: dividing, by a processor, each frame of image in the video data into a plurality of slices; the video data is the video data obtained by decoding the encoded video data through the processor in step S1402. Accordingly, the encoding the video data by the processor in step S1403 includes: coding the fragments obtained by dividing each frame of image in the video data through a processor; the step S1404 of transmitting the encoded video data to the streaming server through the processor includes: each encoded fragment is sent by the processor to a streaming server. The specific principle and implementation manner of dividing each frame image in the video data into a plurality of slices by the processor 132 and encoding the divided slices are similar to those in the embodiment shown in fig. 4, and are not described here again. Terminal device 13 sends each encoded fragment to base station 14 through processor 132, and base station 14 passes through each encoded fragment to streaming media server 17, specifically, processor 132 controls communication interface 133 to send each encoded fragment to base station 14.
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 before the terminal equipment sends the video data coded by the terminal equipment to the streaming media server, the coded video data is not cached by the cache, so that the time delay of live video broadcast is avoided being increased due to the caching of the video data by the terminal equipment, and the time delay of live video broadcast is shortened. In addition, the terminal equipment receives the coded video data sent by the remote control equipment, decodes the coded video data, discards the preset type of image frame in the decoded video data, codes the video data after discarding the preset type of image frame, sends the coded video data to the streaming media server, and reduces the operation amount of video coding and the transmission amount of the coded video data by discarding the preset type of image frame, thereby not only saving the video coding time of the terminal equipment, but also saving the transmission time of the coded video data from the terminal equipment to the streaming media server.
The embodiment of the invention provides a video transmission method. 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 in the embodiment of the present invention is applied to a streaming media server, and as shown in fig. 15, the method in the embodiment may include:
step S1501, receiving encoded video data sent by the terminal device through the communication interface, wherein the encoded video data are obtained by encoding video data shot by shooting equipment carried by the unmanned aerial vehicle.
The execution subject of the method of the embodiment may be a streaming server.
As shown in fig. 16, streaming media server 17 includes communication interface 171, processor 172, and communication interface 173, and processor 172 may be a general-purpose or special-purpose processor. The processor 112 in the unmanned aerial vehicle 11 acquires video data shot by the shooting device 111 and encodes the video data shot by the shooting device 111 to obtain encoded video data, the processor 112 in the unmanned aerial vehicle 11 sends the encoded video data to the remote control device 12 through the communication interface 113, the communication interface 121 of the remote control device 12 receives the encoded video data sent by the unmanned aerial vehicle 11, the remote control device 12 further transmits the encoded video data 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 transmits the encoded video data to the streaming server 17 through the base station 14, and the streaming server 17 receives the encoded video data forwarded by the base station 14 through the communication interface 171.
Optionally, the encoded video data is transmitted from the unmanned aerial vehicle 11 to the streaming server 17 without being buffered in a buffer.
It is understood that the base station 14 and the streaming server 17 may communicate via a variety of network protocols. The predetermined network protocol may be one or more of a plurality of network protocols. The base station 14 communicates with the streaming media server 17 according to a preset network protocol, so as to ensure the accuracy of video data transmission.
In some embodiments, the predetermined network protocol comprises an RTMP network protocol.
It is understood that the RTMP network protocol is a real-time messaging protocol. The video data is transmitted by using the RTMP network protocol, so that the video can be transmitted 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 and received by the streaming media server 17 through the communication interface 171 may specifically be video data in an RTMP format.
Step S1502, decoding the encoded video data by a processor to obtain the video data.
After the streaming media server 17 receives the encoded video data forwarded by the base station 14 through the communication interface 171, the streaming media server 17 decodes the encoded video data through the processor 172 to obtain decoded video data, and after the processor 172 decodes the encoded video data, further determines a frame type in the decoded video data, optionally, the frame type in the decoded video data includes: i frame, P frame, B frame.
And S1503, discarding the preset type of image frame in the video data through the 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 a preset type of image frame, for example, a B frame, in the video data through the processor 172, and a specific process of discarding the preset type of image frame, for example, the B frame, in the video data is consistent with a process of discarding the preset type of image frame, for example, the B frame, by the processor 112, and is not described herein again.
And step S1504, encoding the video data with the preset type of image frame discarded through the processor.
The streaming media server 17 encodes the video data after discarding the B frame in the above steps through the processor 172, it can be understood that the streaming media server 17 encodes the video data after discarding the B frame into video data with multiple formats through the processor 172, the format of the video data encoded by the processor 172 can be determined by the type of the remote device 16, it can be understood that the remote device 16 may include multiple devices, such as a device of an IOS system, a device of an android system, and the like, the format of the video data that can be supported by the device of the IOS system is different from the format of the video data that can be supported by the device of the android system, the device of the IOS system, such as an apple cell phone, an apple computer, and the like, supports video data with RTMP and M3U8 formats, if the remote device 16 is a device of the IOS system, such as an apple cell phone, a computer using a Windows system, and the like, Apple computer, etc., the streaming media server 17 can encode the video data with the B frame discarded into the video data in the HLS format through the processor 172.
Step S1505, sending the encoded video data to the remote device through the processor.
The streaming media server 17 sends the encoded video data, such as video data in HLS format, to the remote device 16 through the processor 172, which specifically includes the following several possible implementations:
one possible implementation is: the processor 172 controls the communication interface 173 to send encoded video data, such as video capture addresses in HLS format, to the remote device 16.
Another possible implementation is: after the processor 172 encodes the video data with the B frame discarded, the processor 172 controls the communication interface 173 to send the video acquisition address corresponding to the encoded video data, for example, the video acquisition address in the HLS format, to the server 18, and then the server 18 sends the video acquisition address in the HLS format to the remote device 16, and the remote device 16, for example, a device of the IOS system, acquires the video data in the HLS format from the streaming media server 17 according to the video acquisition address in the HLS format.
In some embodiments, the video capture address includes one or more formats, and the retrieving, by the remote device 16, the encoded video data from the streaming server 17 according to the video capture address includes: the remote device 16 obtains the encoded video data from the streaming server 17 according to one of the video obtaining addresses in one format or one of the video obtaining addresses in multiple formats.
It is understood that the remote device 16 may include a variety of devices, such as a device of an IOS system, a device of an android system, etc., and thus the format of the video capture address between the remote device 16 and the streaming media server 17 is also varied. In this way, if the streaming media server 17 sends video acquisition addresses in multiple formats, the freedom of selection of the remote device 16 is greater, that is, each type of remote device 16 can acquire video data according to the video acquisition address in the corresponding format.
In some embodiments, the video capture address formats include three formats, HLS, RTMP, and M3U 8. The video acquisition address in the HLS format is suitable for equipment of an IOS system, such as an apple mobile phone, an apple computer and the like. The video acquisition addresses in RTMP and M3U8 formats are suitable for devices of non-IOS systems, such as mobile phones using android systems and computers using Windows systems.
It will be appreciated that the remote device 16 and the server 18 may communicate via a variety of network protocols. The preset network protocol is one or more of a plurality 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 a Websocket network protocol, the server 18 feeds back a video acquisition address to the remote device 16 according to the instruction for acquiring video data, and the remote device 16 acquires encoded video data from the streaming media server 17 according to the video acquisition address.
In other embodiments, after discarding, by a processor, a preset type of image frame in the video data, the method further comprises: dividing, by the processor, each frame image in the video data after discarding a preset type of image frame into a plurality of fragments; accordingly, the step S1504 of encoding, by the processor, the video data after discarding the preset type of image frame includes: coding the fragments obtained by dividing each frame of image in the video data through the processor; step S1505, sending the encoded video data to the remote device through the processor, includes: transmitting, by the processor, each encoded fragment to a remote device.
The specific principle and implementation manner of discarding the B frame by the processor 172, dividing each frame image in the video data after discarding the B frame into a plurality of fragments, and encoding the fragments obtained by dividing each frame image are similar to those in the embodiment shown in fig. 4, and are not described here again. The streaming server 17 sends each encoded fragment to the remote device 16 through the processor 172, and specifically, the processor 172 controls the communication interface 173 to send each encoded fragment to the remote device 16.
Furthermore, the encoded video data does not undergo buffering by a buffer before being decoded by the processor 172; or the encoded video data is not buffered by the buffer before being sent to the remote device 16 via the processor 172. Optionally, the buffer is a buffer inside the processor 172. Alternatively, the buffer is a buffer external to processor 172.
In the embodiment, the streaming media server receives the encoded video data sent by the terminal device, the encoded video data is decoded and then the image frame of the preset type is discarded, the video data after the image frame of the preset type is discarded is encoded and sent to the remote device, and the image frame of the preset type is discarded, so that the calculation amount of video encoding is reduced, and meanwhile, the transmission amount of the encoded video data is reduced, thereby not only saving the video encoding time of the streaming media server, but also saving the transmission time of the encoded video data from the streaming media server to the remote device. In addition, before the streaming media server decodes the coded video data, the coded video data does not go through the buffer of the buffer; or before the streaming media server sends the encoded video data to the remote device, the encoded video data is not cached by the cache, so that the time delay of live video broadcast caused by caching of the streaming media server on the video data is avoided, and the time delay of live video broadcast is further shortened.
The embodiment of the invention provides a video transmission method. Fig. 17 is a flowchart of a method for video transmission according to an embodiment of the present invention. As shown in fig. 17, the method for video transmission provided in this embodiment of the present invention is applied to a streaming media server, and may include:
step S1701 is to receive, through the communication interface, encoded video data transmitted by the terminal device, the encoded video data being obtained by encoding video data captured by a capturing device mounted on the unmanned aerial vehicle.
The execution subject of the method of the embodiment may be a streaming server.
As shown in fig. 16, streaming media server 17 includes communication interface 171, processor 172, and communication interface 173, and processor 172 may be a general-purpose or special-purpose processor. The processor 112 in the unmanned aerial vehicle 11 acquires video data shot by the shooting device 111 and encodes the video data shot by the shooting device 111 to obtain encoded video data, the processor 112 in the unmanned aerial vehicle 11 sends the encoded video data to the remote control device 12 through the communication interface 113, the communication interface 121 of the remote control device 12 receives the encoded video data sent by the unmanned aerial vehicle 11, the remote control device 12 further transmits the encoded video data 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 transmits the encoded video data to the streaming server 17 through the base station 14, and the streaming server 17 receives the encoded video data forwarded by the base station 14 through the communication interface 171.
Optionally, the encoded video data is transmitted from the unmanned aerial vehicle 11 to the streaming server 17 without being buffered in a buffer. In this embodiment, the encoded video data forwarded by the base station 14 and received by the streaming media server 17 through the communication interface 171 may specifically be video data in an RTMP format.
Step 1702, decoding the encoded video data by a processor to obtain the video data.
It is understood that the remote device 16 may include a plurality of devices, such as a device of an IOS system, a device of an android system, and the like, wherein formats of video data that can be supported by the device of the IOS system and the device of the android system are different, the device of the IOS system, such as an apple mobile phone, an apple computer, and the like, supports video data of HLS format, the device of the android system, such as a mobile phone using the android system, a computer using the Windows system, and the like, supports video data of RTMP and M3U8 format.
If the remote device 16 is a device of the IOS system, such as an apple cell phone, an apple computer, etc., the streaming media server 17 needs to convert the video data in the RTMP format into the video data in the HLS format, and specifically, after the streaming media server 17 receives the video data in the RTMP format forwarded by the base station 14 through the communication interface 171, the streaming media server 17 decodes the video data in the RTMP format through the processor 172 to obtain the decoded video data.
Step S1703, encoding the video data by a processor.
Streaming media server 17 encodes the decoded video data, such as to video data in HLS format, via processor 172.
And step S1704, sending the encoded video data to a remote device through a processor.
The streaming media server 17 sends the encoded video data, such as the video data in HLS format, to the remote device 16 through the processor 172, and specifically, the processor 172 controls the communication interface 173 to send the encoded video data, such as the video data in HLS format, to the remote device 16.
Wherein the encoded video data is not buffered by a buffer prior to being decoded by processor 172; or the encoded video data is not buffered by the buffer before being sent to the remote device 16 via the processor 172. Optionally, the buffer is a buffer inside the processor 172. Alternatively, the buffer is a buffer external to processor 172.
In other embodiments, the method further comprises: discarding, by a processor, a preset type of image frame in the video data; the video data is the video data obtained by decoding the encoded video data through the processor in step S1702. Accordingly, the step S1703 of encoding the video data by the processor includes: video data after discarding a preset type of image frame is encoded by a processor. 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 decoding the encoded video data through the processor 172 includes an I frame, a P frame, and a B frame, the processor 172 discards the B frame in the video data, and the specific principle and implementation manner of encoding the video data after discarding the B frame are similar to those in the embodiment shown in fig. 2, and are not described here again.
In some embodiments, the method further comprises: dividing, by a processor, each frame of image in the video data into a plurality of slices; the video data is the video data obtained by decoding the encoded video data through the processor in step S1702. Accordingly, the step S1703 of encoding the video data by the processor includes: coding the fragments obtained by dividing each frame of image in the video data through a processor; the step S1704 of transmitting the encoded video data to the remote device via the processor includes: each encoded fragment is transmitted by the processor to a remote device. The specific principle and implementation manner of dividing each frame of image in the video data into a plurality of slices by the processor 172 and encoding the divided slices are similar to those in the embodiment shown in fig. 4, and are not described herein again. The streaming server 17 sends each encoded fragment to the remote device 16 through the processor 172, and specifically, the processor 172 controls the communication interface 173 to send each encoded fragment to the remote device 16.
In this embodiment, before the streaming media server decodes the encoded video data sent by the terminal device, the encoded video data does not pass through the buffer of the buffer; or before the streaming media server sends the video data coded by the streaming media server to the remote device, the coded video data is not cached by the cache, so that the time delay of live video broadcast caused by caching of the streaming media server on the video data is avoided, and the time delay of live video broadcast is shortened. In addition, the streaming media server receives the coded video data sent by the terminal equipment, decodes the coded video data, discards preset type image frames in the decoded video data, codes the video data after discarding the preset type image frames, and sends the coded video data to the remote equipment.
The embodiment of the invention provides a video transmission method. Fig. 18 is a flowchart of a method for video transmission according to an embodiment of the present invention. As shown in fig. 18, the method for video transmission provided in this embodiment of the present invention is applied to a terminal device connected to a remote control device, and may include: :
step 1801, receiving encoded video data sent by the remote control device through the communication interface, wherein the encoded video data is obtained by encoding video data shot by shooting equipment carried by the unmanned aerial vehicle.
As shown in fig. 13, the terminal device 13 receives, through the communication interface 131, encoded video data sent by the remote control device 12, where the encoded video data may specifically be video data obtained by encoding video data captured by the capturing device 111 by the processor 112 in the unmanned aerial vehicle 11, or may also be video data obtained by encoding video data obtained by discarding a preset type of image frame in video data captured by the capturing device 111 after the processor 112 in the unmanned aerial vehicle 11 discards the preset type of image frame, and the encoded video data is transmitted to the terminal device 13 through the remote control device 12.
Step S1802, sending the encoded video data to a streaming server through a processor.
In this embodiment, the communication interface 131 of the terminal device 13 transmits the encoded video data to the processor 132, and the processor 132 transmits the encoded video data to the base station 14, specifically, the processor 132 controls the communication interface 133 to transmit the encoded video data to the base station 14, and the base station 14 transmits the encoded video data to the streaming server 17.
After receiving the encoded video data sent by the remote control device 12 through the communication interface 131, the encoded video data does not undergo buffering in the buffer; or the encoded video data does not go through buffering in a buffer before being sent to streaming server 17 via processor 172.
The buffer is an internal buffer of the processor 132; alternatively, the buffer is a buffer external to processor 132.
In this embodiment, after receiving, by the terminal device, 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 are sent to the streaming media server through the processor, the encoded video data do not pass through the cache of the buffer, so that the time delay of live video broadcast caused by the cache of the encoded video data by the terminal equipment is avoided.
The embodiment of the invention provides a video transmission method. Fig. 19 is a flowchart of a method for video transmission according to an embodiment of the present invention. As shown in fig. 19, the method for video transmission provided in this embodiment of the present invention is applied to a streaming media server, and may include:
step 1901, receiving encoded video data sent by the terminal device through the communication interface, where the encoded video data is obtained by encoding video data shot by shooting equipment carried by the unmanned aerial vehicle.
As shown in fig. 16, the streaming media server 17 receives, through the communication interface 171, the encoded video data forwarded by the base station 14, where the encoded video data may specifically be video data obtained by encoding, by the processor 112 in the unmanned aerial vehicle 11, the video data captured by the capturing device 111, or may also be video data obtained by encoding, by the processor 112 in the unmanned aerial vehicle 11, the video data obtained by discarding a preset type of image frame in the video data captured by the capturing device 111, and then the encoded video data is transmitted to the streaming media server 17 through the remote control device 12, the terminal device 13, and the base station 14 in sequence.
In other embodiments, the encoded video data may specifically be video data obtained by decoding, discarding an image frame of a preset type in the decoded video data, and encoding, by the terminal device 13, video data obtained by discarding an image frame of a preset type, and optionally, the video data obtained by encoding by the terminal device 13 may specifically be video data in an RTMP format. The encoded video data is transmitted to the streaming media server 17 through the base station 14.
In other embodiments, the encoded video data may specifically be video data obtained by decoding and re-encoding, by the terminal device 13, video data obtained by encoding by the processor 112, and optionally, the video data obtained by encoding by the terminal device 13 may specifically be video data in an RTMP format. The encoded video data is transmitted to the streaming media server 17 through the base station 14.
It is understood that the remote device 16 may include a plurality of devices, such as a device of an IOS system, a device of an android system, and the like, wherein formats of video data that can be supported by the device of the IOS system and the device of the android system are different, the device of the IOS system, such as an apple mobile phone, an apple computer, and the like, supports video data of HLS format, the device of the android system, such as a mobile phone using the android system, a computer using the Windows system, and the like, supports video data of RTMP and M3U8 format.
Step S1902, sending, by the processor, the encoded video data to a remote device.
In this embodiment, the remote device 16 is specifically an android system device, such as a mobile phone using an android system and a computer using a Windows system. Since devices of the android system, such as a mobile phone using the android system, a computer using the Windows system, and the like, support video data in the RTMP and M3U8 formats, the streaming server 17 does not need to convert the format of the video data in the RTMP format, and can transmit the video data in the RTMP format to the remote device 16 through the communication interface 173.
In this embodiment, the streaming media server 17 and the remote device 16 may be connected by a wire or wirelessly, for example, if the streaming media server 17 and the remote device 16 perform a wire communication, the communication interface 173 is specifically a wire communication interface, and if the streaming media server 17 and the remote device 16 perform a wireless communication, the communication interface 173 is specifically a wireless communication interface.
After receiving the encoded video data sent by the terminal device 13 through the communication interface 171, the encoded video data does not undergo buffering in the buffer; or the encoded video data does not go through the buffer before being sent to the remote device 16 via the processor 172.
The buffer is an internal buffer of the processor 172; alternatively, the buffer is a buffer external to processor 172.
In this embodiment, after receiving, by a streaming media server, encoded video data sent by a terminal device through a communication interface, the encoded video data does not pass through a buffer of a buffer; or before the encoded video data is sent to the remote device through the processor, the encoded video data does not pass through the cache of the buffer, so that the delay of live video broadcast caused by the cache of the encoded video data by the streaming media server is avoided.
The embodiment of the invention provides an unmanned aerial vehicle. Fig. 20 is a block diagram of an unmanned aerial vehicle according to an embodiment of the present invention, and as shown in fig. 20, an unmanned aerial vehicle 200 includes: a fuselage, a power system, and a processor 208, the power system including at least one of: a motor 207, a propeller 206 and an electronic speed regulator 209, wherein a power system is arranged on the airframe and used for providing flight power; the processor 208 may be specifically a flight controller, or may be a general or special purpose processor. And the flight controller is in communication connection with the power system and is used for controlling the unmanned aerial vehicle to fly.
In addition, as shown in fig. 20, the unmanned aerial vehicle 200 further includes: the system comprises a communication interface 205, a supporting device 202 and a shooting device 204, wherein the supporting device 202 can be a pan-tilt head specifically, and the shooting device 204 is used for acquiring video data; the processor 208 is configured to discard preset types of image frames in the video data; coding the video data after discarding the preset type of image frame; the communication interface 205 is used to transmit encoded video data to the remote control device.
Optionally, the preset type of image frame at least includes one of a bidirectional predictive coding frame and a forward predictive coding frame.
After discarding the preset type of image frame in the video data, the processor 208 is further configured to: dividing each frame image in the video data after discarding the preset type of image frame into a plurality of fragments; when the processor 208 encodes the video data after discarding the preset type of image frame, the processor is specifically configured to: coding the fragments obtained by dividing each frame of image in the video data; when the communication interface 205 sends the encoded video data to the remote control device, the communication interface is specifically configured to: each encoded fragment is sent to the remote control device.
Optionally, before the processor discards a preset type of image frame in the video data, the video data is not buffered by a buffer; or before the communication interface sends the encoded video data to the remote control device, the encoded video data is not cached by the cache. The buffer is an internal buffer of the processor. Or the buffer is a buffer external to the processor.
The specific principle and implementation of the unmanned aerial vehicle provided by the embodiment of the invention are similar to those of the embodiment shown in fig. 2, and are not described herein again.
The embodiment of the invention provides an unmanned aerial vehicle. Fig. 20 is a block diagram of an unmanned aerial vehicle according to an embodiment of the present invention, and as shown in fig. 20, an unmanned aerial vehicle 200 includes: the system comprises a shooting device 204, a processor 208 and a communication interface 205, wherein the shooting device 204 is used for acquiring video data; a processor 208 for encoding the video data; the communication interface 205 is configured to send encoded video data to a remote control device; wherein the video data is not buffered by a buffer before the processor encodes the video data; or before the communication interface sends the encoded video data to the remote control device, the encoded video data is not cached by the cache. Optionally, the buffer is an internal buffer of the processor. Alternatively, the buffer is a buffer external to the processor.
In other embodiments, the processor 208 is further configured to: discarding a preset type of image frame in the video data; when the processor 208 encodes the video data, it is specifically configured to: and encoding 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.
In some embodiments, the processor 208 is further configured to: dividing each frame of image in the video data into a plurality of fragments; when the processor 208 encodes the video data, it is specifically configured to: coding the fragments obtained by dividing each frame of image in the video data; when the communication interface 205 sends the encoded video data to the remote control device, the method is specifically configured to: each encoded fragment is sent to the remote control device.
The specific principle and implementation of the unmanned aerial vehicle provided by the embodiment of the invention are similar to those of the embodiment shown in fig. 6, and are not described herein again.
The embodiment of the invention provides remote control equipment. As shown in fig. 11, the remote control device 120 includes: the communication interface 121 and the processor 122, the communication interface 121 is used for receiving the encoded video data sent by the unmanned aerial vehicle; the processor 122 is configured to send the encoded video data to a terminal device; after the communication interface 121 receives the encoded video data sent by the unmanned aerial vehicle, the video data does not go through the cache of the buffer; or before the processor 122 sends the encoded video data to the terminal device, the video data is not buffered by the buffer.
The buffer is an internal buffer of the processor; alternatively, the buffer is a buffer external to the processor.
The specific principle and implementation of the remote control device provided by the embodiment of the present invention are similar to those of the embodiment shown in fig. 10, and are not described herein again.
The embodiment of the invention provides terminal equipment. 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 a remote control device, where the encoded video data is obtained by encoding video data captured by a capturing device carried by an unmanned aerial vehicle; the processor 132 is configured to: decoding the encoded video data to obtain the video data; discarding a preset type of image frame in the video data; encoding video data after discarding a preset type of image frame; and sending the coded video data to a streaming media server.
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 132 discards preset types of image frames in the video data, it is further configured to: dividing each frame image in the video data after discarding the preset type of image frame into a plurality of fragments; when the processor 132 encodes the video data after discarding the preset type of image frame, it is specifically configured to: coding the fragments obtained by dividing each frame of image in the video data; when the processor 132 sends the encoded video data to the streaming media server, the processor is specifically configured to: and sending each coded fragment to a streaming media server.
Optionally, before the processor decodes the encoded video data, the encoded video data is not buffered by a buffer; or before the processor sends the encoded video data to the streaming media server, the encoded video data is not cached by the cache.
The buffer is an internal buffer of the processor. Alternatively, the buffer is a buffer external to the processor.
The specific principle and implementation manner of the terminal device provided by the embodiment of the present invention are similar to those of the embodiment shown in fig. 12, and are not described herein again.
The embodiment of the invention provides terminal equipment. 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 a remote control device, where the encoded video data is obtained by encoding video data captured by a capturing device carried by an unmanned aerial vehicle; the processor 132 is configured to: decoding the encoded video data to obtain the video data; encoding the video data; sending the coded video data to a streaming media server; wherein the encoded video data is not buffered by the buffer before the processor 132 decodes the encoded video data; or the encoded video data is not buffered by the buffer before the processor 132 sends the encoded video data to the streaming server. Optionally, the buffer is an internal buffer of the processor. Alternatively, the buffer is a buffer external to the processor.
In other embodiments, the processor 132 is further configured to: discarding a preset type of image frame in the video data; when the processor 132 encodes the video data, it is specifically configured to: and encoding 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.
In some embodiments, the processor 132 is further configured to: dividing each frame of image in the video data into a plurality of fragments; when the processor 132 encodes the video data, it is specifically configured to: coding the fragments obtained by dividing each frame of image in the video data; when the processor 132 sends the encoded video data to the streaming media server, the processor is specifically configured to: and sending each coded fragment to a streaming media server.
The specific principle and implementation manner of the terminal device provided by the embodiment of the present invention are similar to those of the embodiment shown in fig. 14, and are not described herein again.
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 a terminal device, where the encoded video data is obtained by encoding video data captured by a capturing device carried by an unmanned aerial vehicle; processor 172 is configured to: decoding the encoded video data to obtain the video data; discarding a preset type of image frame in the video data; encoding video data after discarding a preset type of image frame; and transmitting the encoded video data 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. After discarding the preset type of image frame in the video data, the processor 172 is further configured to: dividing each frame image in the video data after discarding the preset type of image frame into a plurality of fragments; when the processor 172 encodes the video data after discarding the preset type of image frame, the processor is specifically configured to: coding the fragments obtained by dividing each frame of image in the video data; when the processor 172 sends the encoded video data to the remote device, it is specifically configured to: each encoded fragment is transmitted to a remote device.
In other embodiments, the encoded video data is not buffered by a buffer before the processor decodes the encoded video data; or before the processor sends the encoded video data to the remote device, the encoded video data is not buffered by the buffer. The buffer is an internal buffer of the processor. Alternatively, the buffer is a buffer external to the processor.
The specific principle and implementation manner of the streaming media server provided in the embodiment of the present invention are similar to those in the embodiment shown in fig. 15, and are not described herein again.
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 a terminal device, where the encoded video data is obtained by encoding video data captured by a capturing device carried by an unmanned aerial vehicle; processor 172 is configured to: decoding the encoded video data to obtain the video data; encoding the video data; sending the encoded video data to the remote device; wherein the encoded video data is not buffered by a buffer before the processor decodes the encoded video data; or before the processor sends the encoded video data to the remote device, the encoded video data is not buffered by the buffer.
Optionally, the buffer is an internal buffer of the processor. Alternatively, the buffer is a buffer external to the processor.
In other embodiments, the processor 172 is further configured to: discarding a preset type of image frame in the video data; when the processor 172 encodes the video data, it is specifically configured to: and encoding 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.
In some embodiments, the processor 172 is further configured to: dividing each frame of image in the video data into a plurality of fragments; when the processor 172 encodes the video data, it is specifically configured to: coding the fragments obtained by dividing each frame of image in the video data; when the processor 172 sends the encoded video data to the remote device, it is specifically configured to: each encoded fragment is transmitted to a remote device.
The specific principle and implementation manner of the streaming media server provided in the embodiment of the present invention are similar to those in the embodiment shown in fig. 17, and are not described herein again.
The embodiment of the invention provides a video transmission system. As shown in fig. 13 or fig. 16, the video transmission system includes: unmanned vehicles 11, remote control equipment 12, terminal equipment 13, streaming media server 17. The specific principles and implementation of the unmanned aerial vehicle 11, the remote control device 12, the terminal device 13, and the streaming media server 17 are similar to those of the above embodiments, and are not described herein again.
In the embodiments provided in the present invention, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, or in a form of hardware plus a software functional unit.
The integrated unit implemented in the form of a software functional unit may be stored in a computer readable storage medium. The software functional unit is stored in a storage medium and includes several instructions to enable a computer device (which may be a personal computer, a server, or a network device) or a processor (processor) to execute some steps of the methods according to the embodiments of the present invention. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
It is obvious to those skilled in the art that, for convenience and simplicity of description, the foregoing division of the functional modules is merely used as an example, and in practical applications, the above function distribution may be performed by different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to perform all or part of the above described functions. For the specific working process of the device described above, reference may be made to the corresponding process in the foregoing method embodiment, which is not described herein again.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.

Claims (77)

1. A video transmission method is applied to an unmanned aerial vehicle and is characterized by comprising the following steps:
acquiring video data through shooting equipment carried by an unmanned aerial vehicle;
discarding, by a processor, a preset type of image frame in the video data;
encoding, by a processor, video data from which a preset type of image frame is discarded;
and sending the coded video data to the remote control equipment through the communication interface.
2. The method of claim 1,
the preset type of image frame includes at least one of a bidirectional predictive coding frame and a forward predictive coding frame.
3. The method according to claim 1 or 2,
after discarding, by a processor, a preset type of image frame in the video data, the method further comprising: dividing, by the processor, each frame image in the video data after discarding a preset type of image frame into a plurality of fragments;
the encoding, by the processor, the video data after discarding the preset type of image frame includes:
coding the fragments obtained by dividing each frame of image in the video data through the processor;
the sending the encoded video data to a remote control device through a communication interface includes:
and sending each coded fragment to the remote control equipment through the communication interface.
4. The method according to any one of claims 1-3, further comprising:
before discarding the preset type of image frame in the video data through a processor, the video data is not buffered through a buffer; or
Before the encoded video data is sent to the remote control device through the communication interface, the encoded video data is not cached in the cache.
5. The method of claim 4,
the buffer is an internal buffer of the processor.
6. The method of claim 4,
the buffer is external to the processor.
7. A video transmission method is applied to an unmanned aerial vehicle and is characterized by comprising the following steps:
acquiring video data through shooting equipment carried by an unmanned aerial vehicle;
encoding, by a processor, the video data;
sending the coded video data to the remote control equipment through the communication interface;
wherein the video data is not buffered by a buffer prior to encoding the video data by a processor; or
Before the encoded video data is sent to the remote control device through the communication interface, the encoded video data is not cached in the cache.
8. The method of claim 7,
the buffer is an internal buffer of the processor.
9. The method of claim 7,
the buffer is external to the processor.
10. The method according to any one of claims 7-9, further comprising:
discarding, by a processor, a preset type of image frame in the video data;
the encoding, by a processor, the video data comprises:
video data after discarding a preset type of image frame is encoded by a processor.
11. The method of claim 10,
the preset type of image frame includes at least one of a bidirectional predictive coding frame and a forward predictive coding frame.
12. The method according to any one of claims 7-11, further comprising:
dividing, by a processor, each frame of image in the video data into a plurality of slices;
the encoding, by a processor, the video data comprises:
coding the fragments obtained by dividing each frame of image in the video data through a processor;
the sending of the encoded video data to the remote control device via the communication interface includes:
and sending each coded fragment to the remote control device through the communication interface.
13. A method for video transmission, applied to a remote control device, is characterized by comprising the following steps:
receiving encoded video data sent by the unmanned aerial vehicle through a communication interface;
sending the encoded video data to terminal equipment through a processor;
after the coded video data sent by the unmanned aerial vehicle are received through the communication interface, the video data do not pass through the buffer of the buffer; or
Before the encoded video data is sent to the terminal device through the processor, the video data is not buffered by a buffer.
14. The method of claim 13, wherein the buffer is an internal buffer of the processor; or,
the buffer is external to the processor.
15. A video transmission method is applied to a terminal device connected with a remote control device, and is characterized by comprising the following steps:
receiving encoded video data sent by remote control equipment through a communication interface, wherein the encoded video data is obtained by encoding video data shot by shooting equipment carried by an unmanned aerial vehicle;
decoding the encoded video data by a processor to obtain the video data;
discarding, by a processor, a preset type of image frame in the video data;
encoding, by a processor, video data from which a preset type of image frame is discarded;
and sending the encoded video data to a streaming media server through a processor.
16. The method of claim 15,
the preset type of image frame includes at least one of a bidirectional predictive coding frame and a forward predictive coding frame.
17. The method of claim 15 or 16, wherein after discarding, by a processor, image frames of a preset type in the video data, the method further comprises:
dividing, by the processor, each frame image in the video data after discarding a preset type of image frame into a plurality of fragments;
the encoding, by the processor, the video data after discarding the preset type of image frame includes:
coding the fragments obtained by dividing each frame of image in the video data through the processor;
the sending, by the processor, the encoded video data to the streaming server includes:
and sending each coded fragment to a streaming media server through the processor.
18. The method of any of claims 15-17, wherein the encoded video data is not buffered by a buffer prior to being decoded by a processor; or
Before the encoded video data is sent to the streaming media server through the processor, the encoded video data is not buffered by the buffer.
19. The method of claim 18,
the buffer is an internal buffer of the processor.
20. The method of claim 18,
the buffer is external to the processor.
21. A video transmission method is applied to a terminal device connected with a remote control device, and is characterized by comprising the following steps:
receiving encoded video data sent by remote control equipment through a communication interface, wherein the encoded video data is obtained by encoding video data shot by shooting equipment carried by an unmanned aerial vehicle;
decoding the encoded video data by a processor to obtain the video data;
encoding, by a processor, the video data;
sending the encoded video data to a streaming media server through a processor;
wherein the encoded video data is not buffered by a buffer prior to being decoded by a processor; or
Before the encoded video data is sent to the streaming media server through the processor, the encoded video data is not buffered by the buffer.
22. The method of claim 21,
the buffer is an internal buffer of the processor.
23. The method of claim 21,
the buffer is external to the processor.
24. The method according to any one of claims 21-23, further comprising:
discarding, by a processor, a preset type of image frame in the video data;
the encoding, by a processor, the video data comprises:
video data after discarding a preset type of image frame is encoded by a processor.
25. The method of claim 24,
the preset type of image frame includes at least one of a bidirectional predictive coding frame and a forward predictive coding frame.
26. The method according to any one of claims 21-25, further comprising:
dividing, by a processor, each frame of image in the video data into a plurality of slices;
the encoding, by a processor, the video data comprises:
coding the fragments obtained by dividing each frame of image in the video data through a processor;
the sending, by the processor, the encoded video data to the streaming server includes:
each encoded fragment is sent by the processor to a streaming server.
27. A video transmission method is applied to a streaming media server, and is characterized by comprising the following steps:
receiving encoded video data sent by terminal equipment through a communication interface, wherein the encoded video data is obtained by encoding video data shot by shooting equipment carried by an unmanned aerial vehicle;
decoding the encoded video data by a processor to obtain the video data;
discarding, by a processor, a preset type of image frame in the video data;
encoding, by a processor, video data from which a preset type of image frame is discarded;
the encoded video data is transmitted by the processor to a remote device.
28. The method of claim 27,
the preset type of image frame includes at least one of a bidirectional predictive coding frame and a forward predictive coding frame.
29. The method of claim 27 or 28, wherein after discarding, by a processor, image frames of a preset type in the video data, the method further comprises:
dividing, by the processor, each frame image in the video data after discarding a preset type of image frame into a plurality of fragments;
the encoding, by the processor, the video data after discarding the preset type of image frame includes:
coding the fragments obtained by dividing each frame of image in the video data through the processor;
the sending, by the processor, the encoded video data to the remote device includes:
transmitting, by the processor, each encoded fragment to a remote device.
30. The method of any of claims 27-29, wherein the encoded video data is not buffered by a buffer prior to being decoded by a processor; or
The encoded video data is not buffered by the buffer before being sent to the remote device by the processor.
31. The method of claim 30, wherein the buffer is an internal buffer of the processor.
32. The method of claim 30, wherein the buffer is an external buffer to the processor.
33. A video transmission method is applied to a streaming media server, and is characterized by comprising the following steps:
receiving encoded video data sent by terminal equipment through a communication interface, wherein the encoded video data is obtained by encoding video data shot by shooting equipment carried by an unmanned aerial vehicle;
decoding the encoded video data by a processor to obtain the video data;
encoding, by a processor, the video data;
transmitting the encoded video data to a remote device through a processor;
wherein the encoded video data is not buffered by a buffer prior to being decoded by a processor; or
The encoded video data is not buffered by the buffer before being sent to the remote device by the processor.
34. The method of claim 33,
the buffer is an internal buffer of the processor.
35. The method of claim 33,
the buffer is external to the processor.
36. The method of any one of claims 33-35, further comprising:
discarding, by a processor, a preset type of image frame in the video data;
the encoding, by a processor, the video data comprises:
video data after discarding a preset type of image frame is encoded by a processor.
37. The method of claim 36, wherein the preset type of image frame comprises at least one of a bi-directional predictive coded frame and a forward predictive coded frame.
38. The method of any one of claims 33-37, further comprising:
dividing, by a processor, each frame of image in the video data into a plurality of slices;
the encoding, by a processor, the video data comprises:
coding the fragments obtained by dividing each frame of image in the video data through a processor;
the sending, by the processor, the encoded video data to the remote device includes:
each encoded fragment is transmitted by the processor to a remote device.
39. An unmanned aerial vehicle, comprising:
the shooting equipment is used for acquiring video data;
a processor for discarding a preset type of image frame in the video data; and
encoding video data after discarding a preset type of image frame;
and the communication interface is used for sending the coded video data to the remote control equipment.
40. The UAV according to claim 39,
the preset type of image frame includes at least one of a bidirectional predictive coding frame and a forward predictive coding frame.
41. The UAV of claim 39 or claim 40, wherein the processor, after discarding the preset type of image frames in the video data, is further configured to:
dividing each frame image in the video data after discarding the preset type of image frame into a plurality of fragments;
when the processor encodes the video data after discarding the preset type of image frame, the processor is specifically configured to:
coding the fragments obtained by dividing each frame of image in the video data;
when the communication interface sends the encoded video data to the remote control device, the communication interface is specifically configured to:
each encoded fragment is sent to the remote control device.
42. The unmanned aerial vehicle of any one of claims 39-41,
before the processor discards preset types of image frames in the video data, the video data is not cached in a buffer; or
Before the communication interface sends the encoded video data to the remote control device, the encoded video data is not cached by a cache.
43. The UAV according to claim 42,
the buffer is an internal buffer of the processor.
44. The UAV according to claim 42,
the buffer is external to the processor.
45. An unmanned aerial vehicle, comprising:
the shooting equipment is used for acquiring video data;
a processor for encoding the video data;
the communication interface is used for sending the coded video data to the remote control equipment;
wherein the video data is not buffered by a buffer before the processor encodes the video data; or
Before the communication interface sends the encoded video data to the remote control device, the encoded video data is not cached by a cache.
46. The UAV according to claim 45,
the buffer is an internal buffer of the processor.
47. The UAV according to claim 45,
the buffer is external to the processor.
48. The UAV of any one of claims 45-47 wherein the processor is further configured to:
discarding a preset type of image frame in the video data;
when the processor encodes the video data, the processor is specifically configured to:
and encoding the video data after discarding the preset type of image frame.
49. The UAV according to claim 48,
the preset type of image frame includes at least one of a bidirectional predictive coding frame and a forward predictive coding frame.
50. The UAV of any one of claims 45-49 wherein the processor is further configured to:
dividing each frame of image in the video data into a plurality of fragments;
when the processor encodes the video data, the processor is specifically configured to:
coding the fragments obtained by dividing each frame of image in the video data;
when the communication interface sends the encoded video data to the remote control device, the communication interface is specifically configured to:
each encoded fragment is sent to the remote control device.
51. A remote control device, comprising:
the communication interface is used for receiving the coded video data sent by the unmanned aerial vehicle;
the processor is used for sending the coded video data to terminal equipment;
after the communication interface receives the coded video data sent by the unmanned aerial vehicle, the video data does not pass through the cache of the buffer; or
Before the processor sends the coded video data to the terminal equipment, the video data is not cached in a buffer.
52. The remote control device of claim 51, wherein the buffer is an internal buffer to the processor; or,
the buffer is external to the processor.
53. A terminal device, comprising: a communication interface and a processor;
the communication interface is used for receiving coded video data sent by the remote control equipment, and the coded video data is obtained by coding video data shot by shooting equipment carried by the unmanned aerial vehicle;
the processor is configured to:
decoding the encoded video data to obtain the video data;
discarding a preset type of image frame in the video data;
encoding video data after discarding a preset type of image frame;
and sending the coded video data to a streaming media server.
54. The terminal device of claim 53,
the preset type of image frame includes at least one of a bidirectional predictive coding frame and a forward predictive coding frame.
55. The terminal device according to claim 53 or 54, wherein the processor, after discarding the preset type of image frame in the video data, is further configured to:
dividing each frame image in the video data after discarding the preset type of image frame into a plurality of fragments;
when the processor encodes the video data after discarding the preset type of image frame, the processor is specifically configured to:
coding the fragments obtained by dividing each frame of image in the video data;
when the processor sends the encoded video data to the streaming media server, the processor is specifically configured to:
and sending each coded fragment to a streaming media server.
56. The terminal device according to any of claims 53-55,
before the processor decodes the encoded video data, the encoded video data is not buffered by a buffer; or
Before the processor sends the encoded video data to the streaming media server, the encoded video data is not cached by the cache.
57. The terminal device of claim 56,
the buffer is an internal buffer of the processor.
58. The terminal device of claim 56,
the buffer is external to the processor.
59. A terminal device, comprising: a communication interface and a processor;
the communication interface is used for receiving coded video data sent by the remote control equipment, and the coded video data is obtained by coding video data shot by shooting equipment carried by the unmanned aerial vehicle;
the processor is configured to:
decoding the encoded video data to obtain the video data;
encoding the video data; and
sending the encoded video data to a streaming media server;
wherein the encoded video data is not buffered by a buffer before the processor decodes the encoded video data; or
Before the processor sends the encoded video data to a streaming media server, the encoded video data is not cached by a buffer.
60. The terminal device of claim 59,
the buffer is an internal buffer of the processor.
61. The terminal device of claim 59,
the buffer is external to the processor.
62. The terminal device of any one of claims 59-61, wherein the processor is further configured to:
discarding a preset type of image frame in the video data;
when the processor encodes the video data, the processor is specifically configured to:
and encoding the video data after discarding the preset type of image frame.
63. The terminal device of claim 62,
the preset type of image frame includes at least one of a bidirectional predictive coding frame and a forward predictive coding frame.
64. The terminal device of any one of claims 59-63, wherein the processor is further configured to:
dividing each frame of image in the video data into a plurality of fragments;
when the processor encodes the video data, the processor is specifically configured to:
coding the fragments obtained by dividing each frame of image in the video data;
when the processor sends the encoded video data to the streaming media server, the processor is specifically configured to:
and sending each coded fragment to a streaming media server.
65. A streaming media server, comprising: a communication interface and a processor;
the communication interface is used for receiving encoded video data sent by the terminal equipment, and the encoded video data is obtained by encoding video data shot by shooting equipment carried by the unmanned aerial vehicle;
the processor is configured to:
decoding the encoded video data to obtain the video data;
discarding a preset type of image frame in the video data;
encoding video data after discarding a preset type of image frame;
and transmitting the encoded video data to the remote device.
66. The streaming server of claim 65,
the preset type of image frame includes at least one of a bidirectional predictive coding frame and a forward predictive coding frame.
67. The streaming media server of claim 65 or 66, wherein said processor, after discarding the preset type of image frame in the video data, is further configured to:
dividing each frame image in the video data after discarding the preset type of image frame into a plurality of fragments;
when the processor encodes the video data after discarding the preset type of image frame, the processor is specifically configured to:
coding the fragments obtained by dividing each frame of image in the video data;
when the processor sends the encoded video data to the remote device, the processor is specifically configured to:
each encoded fragment is transmitted to a remote device.
68. The streaming server of any of claims 65-67,
before the processor decodes the encoded video data, the encoded video data is not buffered by a buffer; or
Before the processor sends the encoded video data to the remote device, the encoded video data is not buffered by the buffer.
69. The streaming media server of claim 68 wherein said buffer is an internal buffer to said processor.
70. The streaming media server of claim 68 wherein said buffer is an external buffer to said processor.
71. A streaming media server, comprising: a communication interface and a processor;
the communication interface is used for receiving encoded video data sent by the terminal equipment, and the encoded video data is obtained by encoding video data shot by shooting equipment carried by the unmanned aerial vehicle;
the processor is configured to:
decoding the encoded video data to obtain the video data;
encoding the video data; and
transmitting the encoded video data to a remote device;
wherein the encoded video data is not buffered by a buffer before the processor decodes the encoded video data; or
Before the processor sends the encoded video data to the remote device, the encoded video data is not buffered by the buffer.
72. The streaming server of claim 71, wherein,
the buffer is an internal buffer of the processor.
73. The streaming server of claim 71, wherein,
the buffer is external to the processor.
74. The streaming media server of any of claims 71-73, wherein said processor is further configured to:
discarding a preset type of image frame in the video data;
when the processor encodes the video data, the processor is specifically configured to:
and encoding the video data after discarding the preset type of image frame.
75. The streaming media server of claim 74, wherein said preset type of image frames comprises at least one of bi-directional predictive coded frames and forward predictive coded frames.
76. The streaming media server of any of claims 71-75, wherein the processor is further configured to:
dividing each frame of image in the video data into a plurality of fragments;
when the processor encodes the video data, the processor is specifically configured to:
coding the fragments obtained by dividing each frame of image in the video data;
when the processor sends the encoded video data to the remote device, the processor is specifically configured to:
each encoded fragment is transmitted to a remote device.
77. A video transmission system, comprising:
the unmanned aerial vehicle of any one of claims 39-50;
the remote control device of claim 51 or 52;
the terminal device of any one of claims 53-64;
the streaming media server of any of claims 65-76.
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