CN111684813A

CN111684813A - Data processing method, system, mobile platform, terminal and storage medium

Info

Publication number: CN111684813A
Application number: CN201980008437.0A
Authority: CN
Inventors: 刘怀宇; 陈颖; 吴一凡
Original assignee: SZ DJI Technology Co Ltd
Current assignee: SZ DJI Technology Co Ltd
Priority date: 2019-06-14
Filing date: 2019-06-14
Publication date: 2020-09-18
Also published as: WO2020248233A1

Abstract

The embodiment of the invention provides a data processing method, a data processing system, a mobile platform, a terminal and a storage medium, wherein the method comprises the following steps: the mobile platform sends a data packet including image data to the first terminal through a digital communication link, the first terminal sends the data packet to the second terminal, the second terminal sends the data packet to the playing equipment after receiving the data packet from the first terminal, and the playing equipment plays according to the data packet after receiving the data packet from the second terminal. The embodiment of the invention can improve the transmission quality of the image data and realize live broadcast of the image data.

Description

Data processing method, system, mobile platform, terminal and storage medium

Technical Field

The present invention relates to the field of intelligent control, and in particular, to a data processing method, system, mobile platform, terminal, and storage medium.

Background

The traversing machine has the characteristics of high flying speed, high flying flexibility, no posture limitation and the like, and is widely applied to the fields of traversing machine events, video production and the like. For example, in a cross-machine race, a participating cross-machine may capture image data of a First Person named main View (FPV) and send the image data to a flyer or spectator's eyewear device, which may play the image data so that the flyer or spectator can learn about the flight of the cross-machine. However, in the prior art, the transmission quality of the image data is poor, so that the image data cannot be live broadcast.

Disclosure of Invention

The embodiment of the invention provides a data processing method, a data processing system, a mobile platform, equipment and a storage medium, which can improve the transmission quality of image data and can realize live broadcast of the image data.

In a first aspect, an embodiment of the present invention provides a data processing method, which is applied to a data processing system, where the data processing system includes a mobile platform, a first terminal, a second terminal, and a playing device, and the method includes:

the mobile platform sends a data packet comprising image data to the first terminal through a digital communication link;

after receiving the data packet from the mobile platform, the first terminal sends the data packet to the second terminal;

after receiving the data packet from the first terminal, the second terminal sends the data packet to the playing device;

and after receiving the data packet from the second terminal, the playing equipment plays according to the data packet.

In a second aspect, an embodiment of the present invention provides another data processing method applied to a mobile platform, where the method includes:

sending a data packet including image data to a first terminal through a digital communication link, so that the first terminal sends the data packet to a second terminal, the second terminal sends the data packet to a playing device, and the playing device plays according to the data packet.

In a third aspect, an embodiment of the present invention provides another data processing method, which is applied to a first terminal, and the method includes:

receiving a data packet including image data sent by a mobile platform through a digital communication link;

and after receiving the data packet from the mobile platform, sending the data packet to a second terminal so that the second terminal sends the data packet to a playing device, and the playing device plays the data packet according to the data packet.

In a fourth aspect, an embodiment of the present invention provides another data processing method, which is applied to a second terminal, and the method includes:

receiving a data packet including image data sent by a first terminal, wherein the data packet is sent to the first terminal by the mobile platform through a digital communication link;

and sending the data packet to a playing device so that the playing device plays according to the data packet.

In a fifth aspect, an embodiment of the present invention provides another data processing method, which is applied to a third terminal, and the method includes:

receiving a data packet including image data sent by a mobile platform through a digital communication link; when the third terminal does not receive the data packet from the mobile platform, the third terminal does not send third response information to the mobile platform, where the third response information is used to indicate that the third terminal does not receive the data packet from the mobile platform, or when the third terminal receives the data packet from the mobile platform and fails to decode the data packet, the third terminal does not send fourth response information to the mobile platform, and the fourth response information is used to indicate that the third terminal fails to decode the data packet.

In a sixth aspect, an embodiment of the present invention provides another data processing method, which is applied to a fourth terminal, and the method includes:

receiving a control instruction input by a user;

and in a control instruction transmission time slot, sending the control instruction to a mobile platform through a digital communication link so as to enable the mobile platform to execute the control instruction.

In a seventh aspect, an embodiment of the present invention provides a data processing system, where the data processing system includes a mobile platform, a first terminal, a second terminal, and a playing device,

the mobile platform is used for sending a data packet comprising image data to the first terminal through a digital communication link;

the first terminal is used for sending the data packet to the second terminal after receiving the data packet from the mobile platform;

the second terminal is configured to send the data packet to the playback device after receiving the data packet from the first terminal;

and the playing device is used for playing according to the data packet after receiving the data packet from the second terminal.

In an eighth aspect, an embodiment of the present invention provides a mobile platform, where the mobile platform includes: a camera, a digital image transceiver, a mobile device, a memory, and a processor, wherein,

the mobile device is used for controlling the mobile platform to move;

the shooting device is used for shooting to obtain image data;

the digital image transceiver is used for transmitting and receiving information;

the memory to store program instructions;

the processor is used for calling the program instructions stored in the memory and executing the following steps: the data packet including the image data is sent to a first terminal through a digital communication link, so that the first terminal sends the data packet to a second terminal, the second terminal sends the data packet to a playing device, and the playing device plays the data packet according to the data packet.

In a ninth aspect, an embodiment of the present invention provides a terminal, which is a first terminal, a digital image transceiver, a playing device, a memory and a processor,

the playing device is used for playing according to the data packet;

the memory to store program instructions;

the processor is used for calling the program instructions stored in the memory and executing the following steps: receiving a data packet including image data sent by a mobile platform through a digital communication link; and after receiving the data packet from the mobile platform, sending the data packet to a second terminal so that the second terminal sends the data packet to a playing device, and the playing device plays according to the data packet.

In a tenth aspect, an embodiment of the present invention provides another terminal, where the terminal is a second terminal, the terminal includes a memory and a processor,

the memory to store program instructions;

the processor is used for calling the program instructions stored in the memory and executing the following steps: receiving a data packet including image data sent by a first terminal, wherein the data packet is sent to the first terminal by the mobile platform through a digital communication link; and sending the data packet to a playing device so that the playing device plays according to the data packet.

In an eleventh aspect, an embodiment of the present invention provides a terminal, which is a third terminal, the terminal includes a digital image transceiver, a playing device, a memory and a processor,

the digital image transceiver is used for receiving a data packet which comprises image data and is sent by the mobile platform;

the playing device is used for playing according to the data packet;

the memory to store program instructions;

the processor is used for calling the program instructions stored in the memory and executing the following steps: receiving a data packet including image data sent by a mobile platform through a digital communication link; when the third terminal does not receive the data packet from the mobile platform, third response information is not sent to the mobile platform by the third terminal, the third response information is used for indicating that the third terminal does not receive the data packet from the mobile platform, or when the third terminal receives the data packet from the mobile platform and fails to decode the data packet, fourth response information is not sent to the mobile platform by the third terminal, and the fourth response information is used for indicating that the third terminal fails to decode the data packet.

In a twelfth aspect, an embodiment of the present invention provides yet another terminal, which is a fourth terminal, where the terminal includes a digital flight control command transmitter, an interaction device, a memory, and a processor,

the interaction device is used for receiving a control instruction input by a user;

the digital flight control command transmitter is used for sending the control command to the mobile platform;

the memory to store program instructions;

the processor is used for calling the program instructions stored in the memory and executing the following steps: receiving a control instruction input by a user; and in a control instruction transmission time slot, sending the control instruction to a mobile platform through a digital communication link so as to enable the mobile platform to execute the control instruction.

In a thirteenth aspect, an embodiment of the present invention provides a computer-readable storage medium, including: the computer readable storage medium stores a computer program which, when executed by a processor, is adapted to perform the steps of:

transmitting a data packet including image data to the first terminal through a digital communication link; after receiving the data packet from the mobile platform, the first terminal sends the data packet to the second terminal; after receiving the data packet from the first terminal, the second terminal sends the data packet to the playing device; and after receiving the data packet from the second terminal, the playing equipment plays according to the data packet.

In an embodiment of the invention, the mobile platform may send a data packet including image data to the first terminal via the digital communication link, and the first terminal sends the data packet to the second terminal after receiving the data packet from the mobile platform. The mobile platform transmits the data packet through the digital communication link, so that the transmission quality of the image data can be improved, and the transmission distance of the image data can be increased. And the second terminal can send the data packet to the playing device, and the playing device can play the image data in the data packet, so that live broadcast of the image data can be realized, and audiences can know the moving condition of the mobile platform in real time through the image data.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.

FIG. 1a is a schematic diagram of a network architecture of a data processing system according to an embodiment of the present invention;

fig. 1b is a schematic diagram of a downlink transmission timeslot provided in an embodiment of the present invention;

fig. 1c is a schematic network architecture diagram of a mobile platform control system according to an embodiment of the present invention;

FIG. 1d is a schematic diagram of a network architecture of another mobile platform control system according to an embodiment of the present invention;

FIG. 2 is a flow chart of a data processing method according to an embodiment of the present invention;

FIG. 3 is a flow chart of another data processing method provided by the embodiment of the invention;

FIG. 4 is a flow chart illustrating a further data processing method according to an embodiment of the present invention;

fig. 5 is a schematic structural diagram of a mobile platform according to an embodiment of the present invention;

fig. 6 is a schematic structural diagram of a terminal according to an embodiment of the present invention;

fig. 7 is a schematic structural diagram of another terminal according to an embodiment of the present invention;

fig. 8 is a schematic structural diagram of another terminal according to an embodiment of the present invention;

fig. 9 is a schematic structural diagram of another terminal according to an embodiment of the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the 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.

In order to better understand the data processing method, the mobile platform and the terminal provided by the embodiment of the present invention, a network architecture according to the embodiment of the present invention is described first.

Referring to fig. 1a, fig. 1a is a schematic diagram of a network architecture of a data processing system according to an embodiment of the present invention, where the network architecture at least includes a mobile platform 10, a first terminal 20, a second terminal 30, and at least one playing device 40, and three playing devices are taken as an example in fig. 1 a. Optionally, the network architecture may further include a third terminal 50 and a fourth terminal 60. Wherein, mobile platform 10 can include movable equipment such as unmanned aerial vehicle or ground mobile robot, and unmanned aerial vehicle can be rotor type unmanned aerial vehicle, for example four rotor unmanned aerial vehicle, six rotor unmanned aerial vehicle, eight rotor unmanned aerial vehicle, also can be fixed wing unmanned aerial vehicle. The mobile platform 10 may include a power system, a pan-tilt, a camera 101, a digital image transceiver 102, a mobile device 103, and the like. The power system is used for providing mobile power for the mobile platform and comprises one or more of a propeller, a motor and an electric speed regulator. The imaging device 101 is mounted on the main body of the mobile platform 10 via a pan/tilt head, and is used for imaging images during movement of the mobile platform 10 and also for recording images during movement of the mobile platform 10. The camera 101 includes, but is not limited to, a multispectral imager, a hyperspectral imager, a visible light camera, an infrared camera, and the like. The tripod head is a multi-shaft transmission and stability augmentation system, and a tripod head motor compensates the shooting angle of the image shooting device by adjusting the rotation angle of the rotation shaft, and prevents or reduces the shake of the imaging equipment by arranging a proper buffer mechanism. The digital rendering transceiver 102 may refer to a device that transmits information (e.g., image data) over a digital communication link, i.e., the digital rendering transceiver 102 may be used for the mobile platform 10 to interact with other terminals, which may include one or more of the first terminal 20, the third terminal 50, and the fourth terminal 60. For example, the digital image transceiver 102 may be used to transmit data packets including image data of the camera 101 to the first terminal 20. The moving device 103 is used for controlling the movement of the mobile platform, that is, controlling the moving parameters of the mobile platform, where the moving parameters include moving speed, moving posture, moving direction, moving track, and the like.

The first terminal 20 may refer to a glasses device at a flyer end or other devices. The glasses device may refer to a glasses device that can play video, such as Virtual Reality (VR) or Augmented Reality (AR). In a cross-flight competition, the eyewear equipment at the flyer end may refer to eyewear equipment controlled by the flyer (i.e., the contestant). The first terminal 20 may include a digital image transceiver 201 and a playing device 202, and the digital image transceiver 201 may be used for the first terminal 20 to interact with the mobile platform 10 and the second terminal 30. For example, the digital rendering transceiver 201 may be used to receive data packets transmitted by the mobile platform through the digital rendering transceiver 102. After receiving the data packet from the mobile platform, the first terminal may send the data packet to the second terminal 30, and may play the data packet through the playing device 202 to present the picture taken by the mobile platform.

The second terminal 30 may be referred to as a relay device. Alternatively, the second terminal 30 may comprise a set-top box, a repeater, a router, a switch, or other device. The second terminal 30 may be used to send data packets to the playback device 40. Alternatively, the second terminal 30 is connected to the first terminal 20 by wire.

The playing device 40 may be configured to play the image data in the data packet, and the playing device 40 may specifically be a device capable of playing the image data in the data packet, such as a television, a smart phone, a tablet computer, a notebook computer, a ground station, and a live station.

The third terminal 50 may refer to a glasses device of a viewer or other devices. The viewer-side eyewear device may refer to an eyewear device controlled by a viewer. The third terminal 50 may include a digital map transceiver 501 and a playing device 502, and the digital map transceiver 501 may be used to receive data packets transmitted by the mobile platform 10 through the digital map transceiver. The playing device 502 is used for playing according to the data packet to present the picture taken by the mobile platform.

In this embodiment, the mobile platform 10 may be configured to transmit consecutive data packets to the first terminal 20 and the third terminal 50 via the digital communication link during the current data transmission period. And the mobile platform 10 may receive the response information fed back by the first terminal 20 for each data packet. Based on the received reply information, a destination packet of the consecutive packets is determined. During the current data transmission period, the destination data packet is transmitted to the first terminal 20 and the third terminal 50 through the digital communication link.

In this embodiment, each data transmission cycle may include a downlink transmission slot and an uplink transmission slot. The total number of data packets that can be transmitted in the downlink transmission time slot may be predetermined (e.g., 10 data packets may be transmitted). Here, the transmission time slot of the downlink may be divided into a normal time slot and a redundant time slot in advance. The normal time slot may be regarded as a time slot occupied by transmission of a newly acquired plurality of consecutive data packets. The redundant time slot may be regarded as a time slot occupied by transmitting a predetermined number of target data packets. The duration corresponding to the normal time slot may be greater than or equal to the duration corresponding to the redundant time slot, or the duration corresponding to the normal time slot may be less than the duration corresponding to the redundant time slot. For example, as shown in fig. 1b, the downlink transmission timeslot includes a normal timeslot and a redundant timeslot, and a duration corresponding to the normal timeslot is longer than a duration corresponding to the redundant timeslot. The normal timeslot can be regarded as a timeslot occupied by transmitting 6 consecutive data packets, and the 6 consecutive data packets can be labeled as data packets 1 to 6. The redundant timeslot can be regarded as a timeslot occupied by transmitting 4 target data packets, and the 4 target data packets can be labeled as data packet 7-data packet 10. Specifically, in the normal time slot, the mobile platform 10 sends 6 consecutive data packets including image data to the first terminal 20 and the third terminal 50 through the digital communication link, and accordingly, the first terminal 20 and the third terminal 50 may receive 6 consecutive data packets from the mobile platform 10, and the first terminal 20 may send a piece of response information to the mobile platform 10 for each data packet. The mobile platform 10 may receive the reply information from the first terminal 20, determine a target data packet from the 6 consecutive data packets based on the reply information, and transmit the target data packet to the first terminal 10 and the third terminal 50, respectively, over the digital communication link in the redundant time slot. It should be noted that the number of data packets transmitted in the normal timeslot and the redundant timeslot may be preset according to needs, and is not limited to the values in the above examples.

The above mentioned consecutive data packets respectively transmitted by the mobile platform 10 to the first terminal 20 and the third terminal 50 through the digital communication link in the current data transmission period may specifically refer to: the mobile platform 10 transmits successive data packets to the first terminal 20 and the third terminal 50, respectively, over the digital communication link during the normal time slot of the current data transmission time slot. Similarly, the above-mentioned sending, by the mobile platform 10, the target data packets to the first terminal 20 and the third terminal 50 through the digital communication link in the current data transmission period may specifically be: the mobile platform 10 transmits the destination data packet to the first terminal 20 and the third terminal 50 via the digital communication link in the redundant time slot of the current data transmission time slot, respectively.

In this embodiment, the first terminal 20 may feed back response information to the mobile platform 10 for each data packet. Specifically, after receiving a data packet, the first terminal 20 may return a response message for the data packet to the mobile platform 10. The acknowledgement information may be used to characterize whether the packet was successfully received or whether the packet was successfully decoded.

In this embodiment, the mobile platform 10 may further determine a target data packet in the consecutive data packets based on the acquired response information. Here, the destination packet is a packet to be retransmitted to the first terminal 20 and the third terminal 50. I.e. the destination data packet transmitted in the redundant time slot of each data transmission cycle. Since the response information may be used to indicate whether the data packet is successfully received or whether the data packet is successfully decoded, the data packet corresponding to the response information used to indicate the data packet that has failed to be received or failed to be decoded may be used as the target data packet. I.e., the destination packet may refer to a packet that has not been received or failed to decode. After determining the destination data packet, the mobile platform 10 may send the destination data packet to the first terminal 20 and the third terminal 50 in the current data transmission period.

Therefore, the mobile platform 10 can determine the target data packet to be retransmitted according to the response information of the first terminal 20 to each data packet and retransmit the target data packet, so that when a certain data packet fails to be received or decoded, the first terminal 20 can receive the data packet again, the video pause phenomenon of the first terminal 20 is reduced, and the smoothness of the picture display of the first terminal 20 is improved.

Optionally, the mobile platform 10 may send the target data packet to the third terminal 50, so as to reduce a video pause phenomenon of the third terminal 50, and improve smoothness of the image display of the third terminal 50.

Alternatively, the Acknowledgement information may be NAK (Negative Acknowledgement) or ACK (Acknowledgement). Wherein a NAK is used in digital communications to confirm that a packet has been received but fails to decode the packet, or a NAK is used in digital communications to indicate that a packet has not been received. The ACK characterizes the data packet in the data communication that the reception is acknowledged and the decoding is successful. For example, the NAK includes first acknowledgement information indicating that the first terminal 20 did not receive the data packet from the mobile platform 10 or second acknowledgement information indicating that the first terminal 20 received the data packet but failed to decode the data packet.

Optionally, the mobile platform 10 may further determine the target data packet by:

first, it is determined whether the number of packets for which the response information is NAK is less than a preset number (e.g., 4 pieces). Here, the preset number is a preset number of data packets (i.e., target data packets) that need to be retransmitted in each data transmission period. I.e. the number of destination packets transmitted in the redundant time slots of each data transmission cycle.

If not, selecting the preset number of data packets from the data packets of which the determined response information is NAK as target data packets. For example, if the preset number is 4 and the number of packets whose response information is NAK is also 4, all of the 4 packets whose response information is NAK may be regarded as target packets. If the number of NAK packets is also 5, 4 NAK packets can be selected as target packets. Here, the selection may be performed randomly, or according to another preset rule or order (for example, according to the order of the sending time from early to late), and the selection manner is not limited herein. Therefore, when data transmission is performed by adopting a digital data image transmission mode, data packets with decoding failure can be determined according to the response information of the first terminal 20, and the data packets are retransmitted, so that the video pause phenomenon of the first terminal 20 is reduced, and the image display fluency of the first terminal 20 is improved.

Optionally, in response to determining that the number of the data packets of which the response information is NAK is smaller than the preset number, the mobile platform 10 selects the data packet of which the response information is NAK as a target data packet, and selects a target number of data packets from the remaining data packets as the target data packet. Wherein the target number is a difference between the preset number and the number of the data packets of which the response information is NAK. The rest of the data packets may be data packets which have been sent in the current data transmission period and the response information is not NAK. As an example, if the number of data packets of which the response information is NAK is only 1, 3 data packets may be selected as target data packets from the remaining data packets and retransmitted. Therefore, the video pause phenomenon of the first terminal 20 is reduced, the smoothness of the picture display of the first terminal 20 is improved, and the channel capacity of the current data transmission period can be fully utilized.

Optionally, the operation of the mobile platform 10 selecting the target data packet from the remaining data packets may be performed by the following steps: first, a packet for which the corresponding response information is not received is determined from the remaining packets. And then, selecting the data packets with the target number as target data packets from the data packets of the corresponding response messages which are not received according to the sequence of the sent times from small to large.

Here, since the packet whose response information is NAK has been determined as the target packet, the remaining packets include only the packet whose response information has not been received and the packet whose response information is ACK. If the response message corresponding to a certain packet is ACK, the packet can be considered as error-free. Since the ACK is transmitted with a certain delay, the data packet that does not receive the corresponding acknowledgement information may be an ACK or a NAK. Therefore, the target data packet is selected from the data packets which do not receive the corresponding response information, and the data packet which fails in decoding can be determined with higher probability. Further, since the number of transmissions is larger, the probability of successful transmission is generally higher. Therefore, by selecting in the order from small to large, the data packets with a small number of transmissions can be preferentially selected, and the data packets with decoding failure can be determined with a higher probability.

Optionally, in response to determining that at least two data packets with the same transmission times exist in the data packets that do not receive the corresponding response information, the at least two data packets are selected according to the sequence of the transmission time from the first to the last. Therefore, when the transmission times of a plurality of data packets are the same, the earlier transmitted data packet can be preferentially selected, so that the earlier transmitted data packet can be received as soon as possible.

Optionally, the mobile platform 10 may further select a continuous preset number (for example, 4) of data packets from the data packet corresponding to the first received NAK as the target data packet. As an example, after the mobile platform 10 sends the

consecutive data packets

1, 2, 3, 4, 5, and 6, the response information returned by each data packet is NAK, ACK, and ACK in sequence, and then the data packet corresponding to the first received NAK is NAK. In this case, packet 1 may be a start packet, and 4 consecutive packets from packet 1 (i.e., packet 1, packet 2, packet 3, and packet 4) may be destination packets.

In practical application, after an error occurs in one data packet, an error also occurs in one or more subsequent data packets, so that the target data packet can be determined more conveniently and more conveniently by the method, and the data processing efficiency is improved.

Optionally, the first terminal 20 may further perform the following steps: for each received data packet, determining whether the data packet has been successfully received; if yes, discarding the data packet; if not, storing the data packet. Here, each packet may have an identifier (e.g., sequence number) for indicating and distinguishing the packet. The first terminal 20 may determine whether the data packet has been successfully received through matching of the identifiers.

Optionally, the third terminal 50 may further determine, for each received data packet, whether the data packet is a history data packet received in error; if not, discarding the data packet; if so, combining the data packet with the historical data packet by using a hybrid automatic Repeat reQuest (HARQ) technology, and decoding the combined data packet.

Here, HARQ is a technology that combines Forward Error Correction (FEC) coding and Automatic Repeat Request (ARQ). Among them, FEC is a method for increasing the reliability of data communication. In a one-way communication channel, once an error is found, its receiver will not be entitled to a transmission again. FEC is a method of transmitting redundant information using data that will allow a receiver to reconstruct the data when an error occurs in the transmission. ARQ is a method for recovering an Error message by requesting a sender to retransmit the erroneous data message by a receiver, and is one of methods for handling errors caused by a channel in communication, and is sometimes called Backward Error Correction (BEC). By using the HARQ technology, the third terminal 50 can correct the error in the corresponding historical data packet by using a complementary deletion method based on the currently received data packet, so as to obtain a combined error-free data packet. HARQ supports both individual decoding of individual packets and combined decoding of a packet that has more redundant information.

Through the HARQ technology, the data packet is combined with the historical data packet, so that errors in the historical data packet can be corrected, and the accuracy of the data packet is improved. And further, the video pause phenomenon of the first terminal 20 is reduced, and the smoothness of the picture display of the first terminal 20 is improved.

The fourth terminal 60 may refer to a terminal for controlling the movement of the mobile platform, that is, the fourth terminal 60 may refer to a remote control device, and the fourth terminal 60 may specifically be a remote controller, a smart phone, a tablet computer, a laptop computer, a wearable device (a watch, a bracelet), or other devices. Fourth terminal 60 may include a digital flight control command transmitter 601 and an interaction device 602. The interaction device 602 may specifically include a keyboard, a key, a joystick, a wave wheel, and other interaction devices. The fourth terminal 60 may detect a control operation of the user through the interactive device 602, and generate a control instruction according to the control operation detected by the interactive device 602. Digital flight control command transmitter 601 may refer to a device that transmits control instructions over a digital communication link, i.e., digital flight control command transmitter 601 may be configured to transmit control instructions to mobile platform 10 for execution by mobile platform 10.

It should be noted that the fourth terminal may directly communicate with the mobile platform, or the fourth terminal may also communicate with the mobile platform through the first terminal. When the fourth terminal communicates with the mobile platform through the first terminal, a specific implementation manner may be as shown in fig. 1c and fig. 1 d.

Optionally, when the fourth terminal communicates with the mobile platform through the first terminal, the first terminal is configured to: receiving movement associated data of the mobile platform from the mobile platform through a communication connection with the mobile platform and displaying the movement associated data; the method comprises the steps of receiving a control instruction from a fourth terminal corresponding to the first terminal through a communication connection between the fourth terminal and the mobile platform, and sending the control instruction to the mobile platform through the communication connection between the fourth terminal and the mobile platform.

Wherein the first terminal may communicate with the mobile platform via a wireless communication technology dedicated to communicating with the mobile platform. Accordingly, the communication connection between the first terminal and the mobile platform may be a digital communication connection as defined in the wireless communication technology specifically for communicating with the mobile platform. Wireless communication technology may be referred to herein as wireless digital communication technology.

Optionally, the communication connection between the first terminal and the fourth terminal may be a wired communication connection.

For example, the first terminal communicates with the fourth terminal via USB technology. The communication connection between the first terminal and the fourth terminal is a USB connection as defined in USB technology.

In the application, the fourth terminal does not need to establish communication connection with the mobile platform, and the first terminal communicating with the fourth terminal sends the control instruction to the mobile platform to remotely control the mobile platform. Therefore, under the condition that devices required for communication with the mobile platform do not need to be configured in the fourth terminal, the mobile platform is remotely controlled, and the cost of the fourth terminal is saved.

For example, the first terminal communicates with the mobile platform via a wireless communication technology dedicated to communicating with the mobile platform. The first terminal is provided with a radio frequency circuit, an antenna, and the like necessary for communication using the wireless communication technology. And the fourth terminal does not need to be configured with devices such as a radio frequency circuit, an antenna and the like required by the wireless communication technology for communication, so that the cost of the fourth terminal is saved.

In this application, when the number of the first terminals in the mobile platform control system is multiple, each first terminal establishes a communication connection with the mobile platform.

In this application, when the number of the first terminals and the number of the fourth terminals in the mobile platform control system are both multiple, each first terminal may correspond to one or more fourth terminals in all the fourth terminals.

Correspondingly, when one first terminal corresponds to a plurality of fourth terminals in all the fourth terminals, a communication connection exists between the first terminal and each fourth terminal in the plurality of fourth terminals. And for each fourth terminal in the plurality of fourth terminals, when the fourth terminal is used for remotely controlling the mobile platform, the first terminal sends the control instruction generated on the fourth terminal to the mobile platform to remotely control the mobile platform.

For example, all first terminals in a mobile platform control system include: the first terminal 1, the first terminal 2, all the fourth terminals in the mobile platform control system include: fourth terminal 1, fourth terminal 2, fourth terminal 3, fourth terminal 4. The first terminal 1 is in communication connection with the fourth terminal 1 and the fourth terminal 2; the first terminal 2 has a communication connection with the fourth terminal 3 and the fourth terminal 4.

The fourth terminal corresponding to the first terminal 1 includes: a fourth terminal 1, a fourth terminal 2. The fourth terminal corresponding to the first terminal 2 includes: a fourth terminal 3, a fourth terminal 4.

When a remote controller of the mobile platform uses the fourth terminal 1 or the fourth terminal 2 to remotely control the mobile platform, the first terminal 1 sends a control instruction generated on the fourth terminal 1 or a control instruction generated on the fourth terminal 2 to the mobile platform to remotely control the mobile platform.

When a remote controller of the mobile platform uses the fourth terminal 3 or the fourth terminal 4 to remotely control the mobile platform, the control instruction generated on the fourth terminal 3 or the control instruction generated on the fourth terminal 4 is sent to the mobile platform by the first terminal 2 to remotely control the mobile platform.

In this application, when the number of the first terminals and the number of the fourth terminals in the mobile platform control system are both multiple, multiple first terminals in all the first terminals may correspond to the same fourth terminal. For example, multiple remotes of the mobile platform use the same fourth terminal to remotely control the mobile platform in turn. A first terminal used by each of the remote operators receives the movement-related data from the mobile platform and displays the movement-related data.

Correspondingly, when a plurality of first terminals in all the first terminals correspond to the same fourth terminal and the fourth terminal is used for remotely controlling the mobile platform, the fourth terminal sends the control instruction generated on the fourth terminal to the first terminal used by the current remote controller of the mobile platform, and the first terminal used by the current remote controller of the mobile platform sends the control instruction generated on the fourth terminal to the mobile platform for remotely controlling the mobile platform.

For example, all the first terminals include: first terminal 1, first terminal 2, first terminal 3, first terminal 4, all fourth terminals include: a fourth terminal 1, a fourth terminal 2.

The fourth terminal 1 has a communication connection with the first terminal 2 and the first terminal 1. The fourth terminal 2 has a communication connection with the first terminal 3 and the first terminal 4.

The first terminal 1 and the first terminal 2 each correspond to the fourth terminal 1. The first terminal 3 and the first terminal 4 each correspond to the fourth terminal 2.

When a current remote controller of the mobile platform utilizes the fourth terminal 1 to remotely control the mobile platform, the fourth terminal 1 sends a control instruction generated on the fourth terminal 1 to the first terminal 1 or the first terminal 2 used by the current remote controller of the mobile platform, and the first terminal 1 or the first terminal 2 used by the current remote controller of the mobile platform sends the control instruction generated on the fourth terminal 1 to the mobile platform to remotely control the mobile platform.

When the current remote controller of the mobile platform utilizes the fourth terminal 2 to remotely control the mobile platform, the fourth terminal 2 sends the control instruction generated on the fourth terminal 2 to the first terminal 3 or the first terminal 4 used by the current remote controller of the mobile platform, and the first terminal 3 or the first terminal 4 used by the current remote controller of the mobile platform sends the control instruction generated on the fourth terminal 2 to the mobile platform to remotely control the mobile platform.

In the present application, the mobile associated data of the mobile platform includes: the mobile platform is moved by data collected by associated sensors on the mobile platform.

For example, mobile associated data for a mobile platform includes, but is not limited to: speed of movement, direction of movement, environment of movement packets, etc. The mobile environment data packet may describe the environment around the mobile platform during the current move.

In this application, the remote operator of the mobile platform may perform remote operations on the fourth terminal.

For example, the fourth terminal includes: a rocker. The remote operation of the remote operator of the mobile platform on the fourth terminal may be an operation of the joystick performed by the remote operator of the mobile platform.

In some embodiments, the first terminal is configured to: performing the following within each control instruction transmission slot associated with the first terminal: sending an acquisition instruction corresponding to the control instruction to a fourth terminal corresponding to the first terminal through communication connection between the fourth terminal corresponding to the first terminal so as to trigger the fourth terminal corresponding to the first terminal to acquire the control instruction; and receiving a control instruction from a fourth terminal corresponding to the first terminal through communication connection between the fourth terminal corresponding to the first terminal, and sending the control instruction acquired by the fourth terminal corresponding to the first terminal to the mobile platform through communication connection between the fourth terminal and the mobile platform.

In this application, a time slot may be understood as a time period. The control command transmission time slot may be a time slot for transmitting a control command to the mobile platform.

In this application, for each first terminal, each control instruction transmission slot associated with the first terminal may be: and transmitting each control instruction transmission time slot in one remote control process of remotely controlling the mobile platform by using the first terminal.

For example, in the current remote control process, a first terminal is used to remotely control the mobile platform, that is, in the current remote control process, the first terminal is used to send a control instruction of a fourth terminal corresponding to the first terminal to the mobile platform so as to remotely control the mobile platform. Each control instruction transmission time slot in the current remote control process is each control instruction transmission time slot associated with the first terminal.

In the present application, the duration of the control instruction transmission timeslot is much shorter than the duration of the remote control operation that the remote controller of the mobile platform performs on the fourth terminal and can generate the control instruction.

For example, the duration of the control instruction transmission timeslot may be set to be in the millisecond level, for example, the duration of the control instruction transmission timeslot is 5ms, and the duration of the remote control operation performed by the remote controller of the mobile platform on the fourth terminal corresponding to the first terminal is shortest and also in several seconds, that is, the duration of the operation time period of the remote control operation performed by the remote controller of the mobile platform on the fourth terminal corresponding to the first terminal is shortest and also in several seconds.

Correspondingly, the operation time period of the remote control operation performed by the remote controller of the mobile platform on the fourth terminal corresponding to the first terminal comprises: a plurality of control command transmission slots. Each of the plurality of control command transmission slots is each control command transmission slot associated with the first terminal.

The remote controller of the mobile platform carries out remote control operation on a fourth terminal corresponding to the first terminal, the first terminal triggers the fourth terminal corresponding to the first terminal to acquire a control instruction in each control instruction transmission time slot associated with the first terminal in an operation time period of the remote control operation, and receives the control instruction acquired by the fourth terminal corresponding to the first terminal from the fourth terminal corresponding to the first terminal and sends the fourth terminal corresponding to the first terminal to the mobile platform in each control instruction transmission time slot associated with the first terminal.

In the application, the first terminal completes operations of triggering a fourth terminal acquisition control instruction corresponding to the first terminal, receiving a control instruction acquired by the fourth terminal corresponding to the first terminal from the fourth terminal corresponding to the first terminal, sending the fourth terminal corresponding to the first terminal to the mobile platform, and the like in each control instruction transmission time slot associated with the first terminal. Thus, the control commands are transmitted to the mobile platform with ultra-low latency, and the remote operator of the mobile platform remotely controls the mobile platform with ultra-low latency.

In some embodiments, the mobile associated data of the mobile platform comprises: the first person collected by the mobile platform is called image data of the main visual angle. The first terminal may receive the image data of the first person main view and play the image data of the first person main view. The remote controller of the mobile platform can remotely control the mobile platform according to the image data of the main visual angle of the first person, so that the mobile platform is remotely controlled according to the visual angle of the mobile platform.

In some embodiments, each first terminal is an eyewear device. The glasses device is in communication connection with the mobile platform. The glasses device and the fourth terminal are in communication connection. The eyewear device may receive movement-related data from the mobile platform and display the received movement-related data over a communication connection between the mobile platforms. The glasses equipment receives the control instruction from the fourth terminal through the communication connection between the fourth terminals and sends the control instruction to the mobile platform through the communication connection between the mobile platforms.

When the remote controller of the mobile platform wears the glasses equipment, the remote controller of the mobile platform can know the moving condition of the mobile platform according to the moving associated data displayed by the glasses equipment. Then, a remote controller of the mobile platform can perform remote control operation on a fourth terminal corresponding to the glasses equipment, the fourth terminal sends a control instruction generated based on the remote control operation of the remote controller to the glasses equipment through communication connection with the glasses equipment, and then the glasses equipment sends the control instruction to the mobile platform through communication connection with the mobile platform. Thus, the mobile platform is remotely controlled without the eyewear device having to establish a communication connection with the mobile platform.

In some embodiments, each of the first terminals corresponds to a respective fourth terminal, and the fourth terminal corresponding to each of the first terminals is different from the fourth terminals corresponding to the other first terminals.

Please refer to fig. 1c, which illustrates a schematic structural diagram of a mobile platform control system according to an embodiment of the present application.

In fig. 1c, a first terminal, a mobile platform, a fourth terminal are shown. The first terminal corresponds to a fourth terminal.

The first terminal is in communication connection with the mobile platform, and the first terminal is in communication connection with the fourth terminal. Accordingly, the communication connection 101 between the first terminal and the mobile platform may be a communication connection defined in a wireless communication technology dedicated to communication with the mobile platform. The communication connection 102 between the first terminal and the fourth terminal may be a wired communication connection.

The following illustrates a process for remotely controlling a mobile platform using a mobile platform control system:

the first terminal is a glasses device. The remotely controlled person of the mobile platform wears the eyewear apparatus. The mobile platform collects image data of a first-person main view angle through a data packet sensor of the mobile platform in the moving process. The glasses equipment receives the image data of the first-person main viewing angle from the mobile platform through the communication connection 101 and plays the image data of the first-person main viewing angle. And a remote controller of the mobile platform plays the image data of the first person called the main visual angle through the glasses equipment. The remote operator of the mobile platform performs remote operation on the fourth terminal. The fourth terminal transmits a control instruction generated based on a remote operation by a remote controller of the mobile platform to the first eyeglass device through the communication connection 102. The eyewear apparatus sends control instructions to the mobile platform via the communication connection 101 to remotely control the mobile platform.

Please refer to fig. 1d, which illustrates another structural diagram of a mobile platform control system according to an embodiment of the present application.

In fig. 1d, a first terminal 1, a fourth terminal 1, a mobile platform, a first terminal 2, a fourth terminal 2 are shown.

Each first terminal corresponds to a fourth terminal, and the fourth terminal corresponding to each first terminal is different from the fourth terminals corresponding to other first terminals. The first terminal 1 corresponds to the fourth terminal 1, and the first terminal 2 corresponds to the fourth terminal 2.

The

fourth terminal

1, 2 each comprise a processor, a memory, remote control means operable by a remote controller of the mobile platform. Remote control components may include, but are not limited to: rocker, button. The first terminal 1 and the first terminal 2 each comprise a processor, a memory and a display screen.

The first terminal 1 has a communication connection 201 with the mobile platform, and the first terminal 1 has a communication connection 202 with the fourth terminal 1. The first terminal 2 has a communication connection 203 with the mobile platform and the first terminal 2 has a communication connection 204 with the fourth terminal 2.

The first terminal 1 is configured to: receiving movement associated data for the mobile platform from the mobile platform over the communication connection 201 and displaying the movement associated data; the control instruction generated by remote control operation on the fourth terminal 1 is received from the fourth terminal 1 through the communication connection 202 and is sent to the mobile platform through the communication connection 201.

The first terminal 2 is configured to: receiving movement associated data for the mobile platform from the mobile platform over the communication connection 203 and displaying the movement associated data; control instructions generated by remote control operations performed on the fourth terminal 2 are received from the fourth terminal 2 through the communication connection 204, and the control instructions generated by remote control operations performed on the fourth terminal 2 are sent to the mobile platform through the communication connection 203.

In the present application, the fourth terminal 1 and the fourth terminal 2 may alternately remotely control the mobile platform. In the process that the fourth terminal 1 and the fourth terminal 2 remotely control the mobile platform in turn, the control instruction of any one fourth terminal does not need to be forwarded to the mobile platform through other fourth terminals, so that the transmission delay of the control instruction is reduced, communication connection does not need to be established between the fourth terminal 1 and the fourth terminal 2, correspondingly, the fourth terminal 1 and the fourth terminal 2 do not need to be connected together through a transmission line, and the complexity of using the fourth terminal by a remote controller is reduced.

For example, the fourth terminal 1 is used by a coach who demonstrates the remote control mode of the mobile platform, and the fourth terminal 2 is used by a student who learns the remote control mode of the mobile platform. The remote control of the mobile platform by the trainer and trainee in turn may be referred to as a trainer mode. In the coach mode, the control instruction generated by the remote control operation on the fourth terminal 1 does not need to be forwarded to the mobile platform through the fourth terminal 2, and the control instruction generated by the remote control operation on the fourth terminal 2 does not need to be forwarded to the mobile platform through the fourth terminal 1, so that the transmission delay of the control instruction is reduced. Accordingly, the fourth terminal 1 used by the coach and the fourth terminal 2 used by the student are not required to be connected together through a transmission line, and the complexity of using the fourth terminal by a remote controller is reduced.

the first terminal 1 is a first eyeglass device and the first terminal 2 is a second eyeglass device. The coach wears the first eyewear equipment and the student wears the second eyewear equipment. The coach uses the first glasses device and the fourth terminal 1 to remotely control the mobile platform, and the student uses the second glasses device and the fourth terminal 2 to remotely control the mobile platform.

The mobile platform collects image data of a first-person main view angle through a data packet sensor of the mobile platform in the moving process.

The first eyewear device receives the image data of the first person primary perspective from the mobile platform over the communication connection 201 and plays the image data of the first person primary perspective. The second glasses equipment receives the image data of the first person main view from the mobile platform via the communication connection 203 and plays the image data of the first person main view.

Firstly, a coach uses the first glasses device and the fourth terminal 1 to remotely control the mobile platform so as to demonstrate the remote control mode of the mobile platform for a student. The coach can play the image data of the first-person primary viewing angle through the worn first eyeglass device. The coach performs remote control operations on the fourth terminal 1. The fourth terminal 1 transmits a control instruction generated based on the remote operation of the trainer to the first eyeglass device through the communication connection 202. The first eyewear device sends control instructions to the mobile platform over the communication connection 201 to remotely control the mobile platform.

During the time period when the coach uses the first glasses device and the fourth terminal 1 to remotely control the mobile platform, the trainee can display the image data of the first-person main viewing angle through the second glasses device during the time period so as to know the moving process of the mobile platform. Then, the student can remotely control the mobile platform by using the second glasses device and the fourth terminal 2 to learn the remote control mode of the mobile platform for the coach to demonstrate.

The trainee performs remote control operation on the fourth terminal 2. The fourth terminal 2 transmits a control instruction generated based on the remote operation by the trainee to the second eyeglass device through the communication connection 204. The second eyeglass device transmits a control instruction generated based on the remote control operation by the trainee to the mobile platform through the communication connection 203 to remotely control the mobile platform.

The network architecture can be used in scenes such as live events or video production in the cross-machine competition, and the application of the network architecture in scenes of live events in the cross-machine competition is described as an example below. The mobile platform 10 may be used for crossing machine competitions, i.e. the mobile platform 10 may be referred to as a crossing machine. In a cross-machine competition, the flier (i.e., the competitor) may control the mobile platform 10 to capture image data of the main viewing angle of the first person through the camera 101, and the mobile platform 10 may transmit a data packet including the image data to the first terminal 20 through the digital image transceiver 102. The first terminal 20 may receive data packets from the mobile platform 10 via the digital map transceiver 201, and upon receiving the data packets, may transmit the data packets to the second terminal 30. The second terminal 30 may receive the data packet from the first terminal 20, and may transmit the data packet to the playback apparatus after receiving the data packet. The playback device can play back the image data in the data packet after receiving the data packet from the second terminal 30. The mobile platform 10 transmits the data packet through the digital image transmission transceiver, so that the transmission quality of the image data can be improved, and the transmission distance of the data packet can be increased. Moreover, the image data can be live broadcast, so that audiences can know the moving condition of the mobile platform in real time through the image data.

Referring to fig. 2, fig. 2 is a schematic flow chart of a data processing method according to an embodiment of the present application, where the method may be applied to the data processing system of fig. 1a, and as shown in fig. 2, the data processing method may include the following steps.

S201, the mobile platform sends a data packet including image data to the first terminal through the digital communication link.

In the embodiment of the invention, the mobile platform can obtain the image data through shooting by the shooting device. For example, in the moving process of the mobile platform, the flier may send a shooting instruction to the mobile platform through the fourth terminal, and after receiving the shooting instruction, the mobile platform may control the shooting device to shoot to obtain the image data. After the mobile platform obtains the image data through shooting, the data packet including the image data can be sent to the first terminal through the digital communication link, that is, the mobile platform can send the data packet including the image data to the first terminal through the digital image transceiver. The digital communication link refers to a transmitting end (e.g., a mobile platform) encoding and modulating a data packet to obtain a processed data packet (i.e., the processed data packet is a digital signal), and transmitting the processed data packet to a receiving end (e.g., a first terminal). The data packet can be obtained according to the image data of the first-person main view, so that the flier or the audience can know the moving condition of the mobile platform in real time through the image data. Specifically, in the process of shooting the image, the mobile platform may send a data packet including at least one frame of image to the first terminal by using the digital communication link every time at least one frame of image is obtained by shooting, that is, the data packet includes one or more frames of images.

Optionally, the sending, by the mobile platform, the data packet including the image data to the first terminal through the digital communication link may specifically include: during the current data transmission period, the mobile platform sends successive data packets to the first terminal over the digital communication link. The continuous data packet includes image data, that is, the continuous data packet includes image data continuously captured by a camera of the mobile platform.

In an embodiment, the shooting device further includes a video recording function, that is, the mobile platform can record video through the shooting device without additionally carrying a video recording device on the mobile platform, so that convenience of video recording can be improved, and quality of the video recording can be improved. When the mobile platform is moved, the image data obtained by video recording through the shooting device can be sent to the terminal, and the image data obtained by video recording can be played by the terminal.

The photographing device may refer to a high resolution photographing device, that is, the resolution of image data photographed by the photographing device is greater than a preset resolution threshold. The preset resolution threshold may be determined by the shooting performance of the shooting device. For example, the preset resolution threshold may be 720p × 120fps, where p indicates that the scanning format of the image data is progressive scanning, and 720p indicates a display format in which the image data reaches a resolution of 1280 × 720 under progressive scanning. fps means the number of frames per second of image data to be transmitted, i.e., 120fps means 120 frames per second of image data to be transmitted. Of course, the preset resolution threshold may also be greater than 720p × 120fps, which is not limited in the embodiment of the present application.

S202, after receiving the data packet from the mobile platform, the first terminal sends the data packet to the second terminal.

In the embodiment of the invention, the first terminal can receive the data packet from the mobile platform, and after receiving the data packet, the first terminal can send the data packet to the second terminal. Namely, the first terminal can receive the data packet sent by the mobile platform through the digital image transceiver and send the data packet to the second terminal. Specifically, the first terminal may send the data packet to the second terminal through a wired communication connection or a wireless communication connection. Optionally, after receiving the data packet, the first terminal may play the image data in the data packet, so that the flier may know the moving condition of the mobile platform in real time.

Optionally, step S202 includes: if the data packet is received from the mobile platform and the data packet is successfully decoded, the first terminal can send the data packet to the second terminal through a digital communication link.

If the data packet is received from the mobile platform and the data packet is successfully decoded, which indicates that the mobile platform is not in an abnormal condition in the process of encoding the data packet or in the process of transmitting the data packet, the first terminal can send the data packet to the second terminal through the digital communication link. Therefore, invalid data packet transmission can be avoided, and the utilization rate of bandwidth resources can be improved.

In one embodiment, the mobile platform establishes a point-to-point digital communication connection with the first terminal. The mobile platform may specifically send a data packet comprising image data to the first terminal via the point-to-point digital communication connection. Accordingly, the first terminal receives the data packet from the mobile platform, particularly via the point-to-point digital communication connection. For example, before the mobile platform sends the data packet, the mobile platform may receive a request for establishing a peer-to-peer digital communication connection sent by the first terminal, and establish a peer-to-peer digital communication connection with the first terminal according to the connection request. The peer-to-peer digital communication link may refer to a communication link for transmitting information through a digital communication link, and the peer-to-peer digital communication link may refer to a dedicated communication link for performing communication between the mobile platform and the first terminal, that is, only the mobile platform and the first terminal may receive and transmit information through the dedicated communication link. The point-to-point digital communication connection may specifically be a communication connection based on a Wireless Fidelity (Wi-Fi) or bluetooth communication protocol.

S203, after receiving the data packet from the first terminal, the second terminal sends the data packet to a playing device.

In this embodiment of the present invention, the second terminal may receive the data packet from the first terminal, and after receiving the data packet, may send the data packet to the playback device, so that the playback device may play back the image data in the data packet.

In one embodiment, the first terminal may transmit the data packet to the second terminal via a wired communication connection in order to ensure transmission quality, reduce data processing system complexity, and improve data processing system robustness. Accordingly, the second terminal may receive the data packet transmitted by the first terminal over the wired communication connection. The wired communication connection may refer to a communication connection based on a Universal Serial Bus (USB), an asynchronous transfer standard interface protocol RS232, or the like.

In one embodiment, the first terminal may encrypt the data packet to obtain an encrypted data packet, and transmit the encrypted data packet to the second terminal through the wired communication connection. Accordingly, the second terminal may receive the encrypted data packet sent by the first terminal over the wired communication connection.

In order to ensure the security of data packet transmission, the first terminal may encrypt the data packet by using a preset encryption method to obtain an encrypted data packet. The preset Encryption mode may include at least one of a fifth version of message digest Algorithm (MD 5), a Data Encryption Standard (DES), a Digital Signature Algorithm (DSA), and the like, or may be another Encryption mode, which is not limited in the embodiment of the present application. Further, the first terminal may send the encrypted data packet to the second terminal via the wired communication connection. Accordingly, the second terminal may receive the encrypted data packet sent by the first terminal over the wired communication connection.

Optionally, if the data packet received by the second terminal from the first terminal is an encrypted data packet, the second terminal may decrypt the encrypted data packet to obtain a decrypted data packet, and send the decrypted data packet to the playing device.

Optionally, in order to improve the security of data packet transmission, if the data packet received by the second terminal from the first terminal is an encrypted data packet, the second terminal may directly send the encrypted data packet to the playback device.

And S204, after receiving the data packet from the second terminal, the playing device plays according to the data packet.

In this embodiment of the present invention, the playing device may receive the data packet from the second terminal. After receiving the data packet, the image data in the data packet can be played so that the viewer can know the moving condition of the mobile platform in real time. Specifically, if the data packet received by the playback device is an encrypted data packet, the playback device may decrypt the encrypted data packet to obtain a decrypted data packet, and play back the image data in the decrypted data packet. If the data packet received by the playing device is an unencrypted data packet, the playing device can directly play the image data in the data packet.

In one embodiment, the playing device may live broadcast the image data in the data packet, that is, the playing device may play each frame of image received.

In one embodiment, the mobile platform may transmit the data packet to the third terminal over a digital communication link. The third terminal may be a spectator terminal. Accordingly, the third terminal may receive data packets transmitted by the mobile platform over the digital communication link. After the third terminal receives the data packet, the image data in the data packet can be played, so that the audience can know the moving condition of the mobile platform in real time through the third terminal. Specifically, the mobile platform may broadcast the data packet to the third terminal via a digital communication link. Accordingly, the third terminal may receive data packets broadcast by the mobile platform over the digital communication link. Therefore, the third terminal does not occupy the uplink bandwidth resource, the mobile platform can transmit data packets to more third terminals, and the utilization rate of the bandwidth resource can be improved.

Optionally, the sending, by the mobile platform, the data packet to the third terminal through the digital communication link specifically includes: and in the current data transmission period, the mobile platform sends continuous data packets to the third terminal through the digital communication link. Similarly, the broadcasting the data packet to the third terminal by the mobile platform through the digital communication link may specifically refer to: during the current data transmission period, the mobile platform broadcasts a continuous data packet to the third terminal via the digital communication link. The continuous data packet here includes image data.

In one example, when the third terminal does not receive the data packet from the mobile platform, the third terminal does not send a third response message to the mobile platform, where the third response message is used to indicate that the third terminal does not receive the data packet from the mobile platform. That is, the third terminal does not need to send the third response message to the mobile platform, so that the third terminal does not occupy the uplink bandwidth resource, and the mobile platform can transmit the data packet to more third terminals, thereby improving the utilization rate of the bandwidth resource.

In another example, when the third terminal receives the data packet from the mobile platform and fails to decode the data packet, the third terminal does not send fourth response information to the mobile platform, where the fourth response information is used to indicate that the third terminal failed to decode the data packet. That is, the third terminal does not need to send the fourth response information to the mobile platform, so that the third terminal does not occupy the uplink bandwidth resource, and the mobile platform can transmit the data packet to more third terminals, thereby improving the utilization rate of the bandwidth resource.

In one embodiment, the fourth terminal may receive a control command input by a user, and transmit the control command to the mobile platform through the digital communication link during a control command transmission time slot. Correspondingly, the mobile platform can receive the control instruction sent by the fourth terminal through the digital communication link, and after the mobile platform receives the control instruction sent by the fourth terminal, the mobile platform can execute the control instruction.

The control instruction may refer to other instructions such as a flight control instruction or a video shooting instruction, and the user may input the control instruction in the fourth terminal in a touch manner, a voice manner, and the like, and the fourth terminal may receive the control instruction input by the user. The fourth terminal can send the control instruction to the mobile platform through the digital communication link in the control instruction transmission time slot, so that the transmission delay of the control instruction can be reduced, and full synchronization between the mobile platform and the fourth terminal can be realized. The control command transmission time slot may be set by the fourth terminal or manually set by the user. For example, the control command transmission time slot may be 5ms, and if the fourth terminal receives a control command input by a user in the 1 st ms, the fourth terminal may send the control command to the mobile platform through the digital communication link in the 6 th ms. Accordingly, the mobile platform may receive the control command from the fourth terminal, and execute the control command after receiving the control command. For the explanation of the control command transmission time slot, reference may be made to the explanation in fig. 1c for the control command transmission time slot.

Optionally, the fourth terminal may send the control instruction to the first terminal through the digital communication link, and the first terminal receives the control instruction from the fourth terminal and sends the control instruction to the mobile platform after receiving the control instruction. Accordingly, the mobile platform may receive the control command from the first terminal, and execute the control command after receiving the control command.

In an embodiment of the invention, the mobile platform may send a data packet including the image data to the first terminal via the digital communication link, and the first terminal may send the data packet to the second terminal after receiving the data packet from the mobile platform. The mobile platform transmits the data packet through the digital communication link, so that the transmission quality of the image data can be improved, and the transmission distance of the image data can be increased. And the second terminal can transmit the data packet to the playing device, and the playing device can play the image data in the data packet, so that live broadcast of the image data can be realized, and audiences can know the moving condition of the mobile platform in real time through the image data.

Referring to fig. 3, fig. 3 is a schematic flow chart of another data processing method according to an embodiment of the present application, which may be applied to the data processing system of fig. 1a, as shown in fig. 3, the data processing method may include the following steps.

S301, the mobile platform sends a data packet comprising image data to the first terminal through the digital communication link. Accordingly, the first terminal may receive the data packet from the mobile platform, and if the first terminal receives the data packet, step S302 is executed; if the first terminal does not receive the data packet, steps S303 to S304 are performed.

S302, after receiving the data packet from the mobile platform, the first terminal sends the data packet to the second terminal.

In the embodiment of the present invention, the explanation of step S301 may refer to the explanation of step S201 in fig. 2, and the explanation of step S302 may refer to the explanation of step S202 in fig. 2, and repeated parts are not repeated.

S303, if the data packet is not received from the mobile platform, the first terminal may send first response information to the mobile platform through the digital communication link, where the first response information is used to indicate that the first terminal does not receive the data packet from the mobile platform.

If network abnormality occurs in the process of transmitting the data packet by the mobile platform, the first terminal cannot receive the data packet from the mobile platform. Therefore, if the first terminal does not receive the data packet from the mobile platform, the first response information can be sent to the mobile platform through the digital communication link, so that the mobile platform can retransmit the data packet, and the reliability of data packet transmission can be improved.

It should be noted that the first terminal may send a piece of first reply information to the mobile platform for each data packet that is not received in all data packets through the digital communication link. Alternatively, the first terminal may send an acknowledgement message to the mobile platform for each of all data packets over the digital communication link, where the acknowledgement message may include an ACK or a NAK, where a NAK may refer to the first acknowledgement message. For a specific implementation manner of the first terminal sending the response information to the mobile platform through the digital communication link for each data packet in all data packets, reference may be made to corresponding description in fig. 1a, which is not described herein again.

S304, after receiving the first response message from the first terminal, the mobile platform may resend the data packet to the first terminal through the digital communication link. Specifically, the mobile platform may receive first response information sent by the first terminal through the digital communication link, and after receiving the first response information, may determine that the first terminal does not receive the data packet according to the first response information. And the data packet can be retransmitted to the first terminal through the digital communication link, so as to improve the reliability of data packet transmission. Accordingly, if the first terminal does not receive the retransmitted data packet from the mobile platform, steps S303 and S304 are executed in a loop. Until the first terminal receives the retransmitted data packet from the mobile platform and the retransmitted data packet is successfully decoded, step S302 is performed.

Optionally, in the current data transmission cycle, the mobile platform may resend the data packet including all the image data to the first terminal through the digital communication link, or the mobile platform may determine a target data packet according to the first response information of the first terminal and resend the target data packet to the first terminal through the digital communication link, that is, the mobile platform resends the target data packet to the first terminal through the digital communication link in the redundant time slot of the current data transmission cycle. The determination method of the target data packet may refer to the description of the determination method of the target data packet in fig. 1a, which is not described herein again.

Optionally, during the current data transmission period, the mobile platform may resend the data packet including all image data to the first terminal and the third terminal through the digital communication link. Or, the mobile platform may determine the target data packet according to the first response information of the first terminal, and resend the target data packet to the first terminal and the third terminal through the digital communication link, that is, the mobile platform resends the target data packet to the first terminal and the third terminal through the digital communication link in the redundant time slot of the current data transmission cycle. The determination method of the target data packet may refer to the description of the determination method of the target data packet in fig. 1a, which is not described herein again.

S305, after receiving the data packet from the first terminal, the second terminal sends the data packet to a playing device.

S306, after the playing device receives the data packet from the second terminal, playing is carried out according to the data packet.

In the embodiment of the present invention, the explanation of step S305 may refer to the explanation of step S203 in fig. 2, and the explanation of step S306 may refer to the explanation of step S204 in fig. 2, and repeated parts are not repeated.

In the embodiment of the invention, the mobile platform can send the data packet including the image data to the first terminal through the digital communication link, and if the first terminal does not receive the data packet from the mobile platform, the first terminal can send the first response information to the mobile platform. After receiving the first response information, the mobile platform can resend the data packet to the first terminal through the digital communication link, so that the reliability of data packet transmission can be improved, and the transmission quality of image data can be improved. The first terminal receives the data packet from the mobile platform, and after the data packet is successfully decoded, the data packet can be sent to the second terminal. Furthermore, the second terminal can transmit the data packet to the playing device, the playing device can play the image data in the data packet, and live broadcast of the image data can be achieved, so that audiences can know the moving condition of the mobile platform in real time through the image data.

Referring to fig. 4, fig. 4 is a schematic flowchart illustrating a further data processing method according to an embodiment of the present application, where the method may be applied to the data processing system of fig. 1a, and as shown in fig. 4, the data processing method may include the following steps.

S401, the mobile platform sends a data packet including image data to the first terminal through the digital communication link.

S402, after the first terminal receives the data packet from the mobile platform, the data packet is decoded successfully, and the data packet is sent to the second terminal.

The first terminal may receive a data packet from the mobile platform and may decode the data packet upon receiving the data packet. If the decoding is successful, go to step S402; if the decoding fails, steps S403 to S404 are performed. The successful decoding means that the first terminal decodes the received data packet to obtain a complete data packet, and abnormal conditions such as messy codes do not occur in the decoding process. The decoding failure refers to that the first terminal cannot obtain a complete data packet by decoding the received data packet, or abnormal conditions such as messy codes occur in the decoding process.

In the embodiment of the present invention, the explanation of step S401 may refer to the explanation of step S201 in fig. 2, and the explanation of step S402 may refer to the explanation of step S202 in fig. 2, and repeated parts are not repeated.

S403, if the data packet is received from the mobile platform and the decoding of the data packet fails, the first terminal may send a second response message to the mobile platform through the digital communication link, where the second response message is used to indicate that the first terminal failed to decode the data packet.

If the first terminal fails to decode the data packet, it indicates that the mobile platform is in an abnormal condition in the process of encoding the data packet or in the process of transmitting the data packet. At this time, if the data packet is transmitted to the second terminal, the second terminal cannot successfully decode the data packet, and a large amount of bandwidth resources are wasted. Therefore, if the data packet is received from the mobile platform and the data packet fails to be decoded, the first terminal may send the second response message to the mobile platform through the digital communication link, so that the mobile platform may retransmit the data packet. And the method can avoid the first terminal from transmitting invalid data packets to the second terminal, improve the utilization rate of bandwidth resources and improve the reliability of data packet transmission.

It should be noted that the first terminal may send a piece of second response information to the mobile platform for each data packet with a decoding failure in all data packets through the digital communication link. Alternatively, the first terminal may send an acknowledgement message to the mobile platform for each of all data packets over the digital communication link, where the acknowledgement message may include an ACK or a NAK, where a NAK may refer to the second acknowledgement message. For a specific implementation manner of the first terminal sending the response information to the mobile platform through the digital communication link for each data packet in all data packets, reference may be made to corresponding description in fig. 1a, which is not described herein again.

S404, after receiving the second response message from the first terminal, the mobile platform may resend the data packet to the first terminal through the digital communication link. Specifically, the mobile platform may receive a second response message sent by the first terminal through the digital communication link. After receiving the second response message, the first terminal may determine that the decoding of the data packet by the first terminal failed according to the second response message, and may resend the video to the first terminal through the digital communication link, so as to improve reliability of data packet transmission. Accordingly, the first terminal may receive the data packet retransmitted by the mobile platform over the digital communication link. After receiving the retransmitted data packet, the first terminal may decode the retransmitted data packet, and if the first terminal fails to decode the retransmitted data packet, the steps S403 to S404 are performed in a loop. Until the first terminal successfully decodes the retransmitted data packet, step S402 is performed.

Optionally, in the current data transmission cycle, the mobile platform may resend the data packet including all the image data to the first terminal through the digital communication link, or the mobile platform may determine the target data packet according to the second response information of the first terminal and resend the target data packet to the first terminal through the digital communication link, that is, the mobile platform resends the target data packet to the first terminal through the digital communication link in the redundant time slot of the current data transmission cycle. The determination method of the target data packet may refer to the description of the determination method of the target data packet in fig. 1a, which is not described herein again.

Optionally, during the current data transmission period, the mobile platform may resend the data packet including all the image data to the first terminal and the third terminal through the digital communication link. Or, the mobile platform may determine the target data packet according to the second response information of the first terminal, and resend the target data packet to the first terminal and the third terminal through the digital communication link, that is, the mobile platform resends the target data packet to the first terminal and the third terminal through the digital communication link in the redundant time slot of the current data transmission cycle. The determination method of the target data packet may refer to the description of the determination method of the target data packet in fig. 1a, which is not described herein again.

S405, after the second terminal receives the data packet from the first terminal, the data packet is sent to the playing device.

S406, after receiving the data packet from the second terminal, the playing device plays according to the data packet.

In the embodiment of the present invention, the explanation of step S405 may refer to the explanation of step S203 in fig. 2, and the explanation of step S406 may refer to the explanation of step S204 in fig. 2, and repeated parts are not repeated.

In the embodiment of the present invention, the mobile platform may send the data packet including the image data to the first terminal through the digital communication link, and if the first terminal receives the data packet from the mobile platform and fails to decode the data packet, the mobile platform may send the second response message to the mobile platform. After receiving the second response message, the mobile platform can resend the data packet to the first terminal through the digital communication link, so that the reliability of data packet transmission can be improved, and the transmission quality of image data can be improved. The first terminal receives the data packet from the mobile platform, and after the data packet is successfully decoded, the data packet can be sent to the second terminal. Furthermore, the second terminal can transmit the data packet to the playing device, the playing device can play the image data in the data packet, and live broadcast of the image data can be achieved, so that audiences can know the moving condition of the mobile platform in real time through the image data.

Referring to fig. 5, fig. 5 is a schematic structural diagram of a mobile platform according to an embodiment of the present invention, specifically, the mobile platform includes: memory 501, processor 502, camera 503, digital image transceiver 504, and mobile device 505.

The memory 501 may include a volatile memory (volatile memory); the memory 501 may also include a non-volatile memory (non-volatile memory); the memory 501 may also comprise a combination of memories of the kind described above. The processor 502 may be a Central Processing Unit (CPU). The processor 502 may further include a hardware chip. The hardware chip may be an application-specific integrated circuit (ASIC), a Programmable Logic Device (PLD), or a combination thereof. The PLD may be a Complex Programmable Logic Device (CPLD), a field-programmable gate array (FPGA), or any combination thereof.

The shooting device 503 is used for shooting to obtain image data. Optionally, the shooting device 503 is further configured to record video. The digital map transceiver 504 is used for transceiving information. For example, the digital image transceiver 504 is configured to transmit a data packet including image data to the first terminal, and to receive the first response information or the second response information transmitted by the first terminal. The moving device 505 is used for controlling the moving platform to move.

In one embodiment, the memory is to store program instructions; the processor calls the program instructions stored in the memory to execute the following steps:

the data packet including the image data is sent to a first terminal through a digital communication link, so that the first terminal sends the data packet to a second terminal, the second terminal sends the data packet to a playing device, and the playing device plays the data packet according to the data packet.

Optionally, the processor calls the program instructions stored in the memory to execute the following steps:

establishing a point-to-point digital communication connection with the first terminal; and sending a data packet comprising image data to the first terminal through the point-to-point digital communication connection.

receiving first response information sent by the first terminal through a digital communication link, wherein the first response information is used for indicating that the first terminal does not receive the data packet from the mobile platform; retransmitting the data packet to the first terminal over a digital communication link.

receiving second response information sent by the first terminal through a digital communication link, wherein the second response information is used for indicating that the first terminal fails to decode the data packet; retransmitting the data packet to the first terminal over a digital communication link.

And the resolution of the image data in the data packet is greater than a preset resolution threshold.

and transmitting the data packet to a third terminal through a digital communication link.

broadcasting the data packet to the third terminal over a digital communication link.

receiving a control instruction sent by a fourth terminal through a digital communication link, wherein the control instruction is sent by the fourth terminal in a control instruction transmission time slot; and executing the control instruction.

In the embodiment of the invention, the mobile platform can send the data packet including the image data to the first terminal through the digital communication link, so that the first terminal sends the data packet to the second terminal, the second terminal sends the data packet to the playing device, and the playing device plays according to the data packet. The mobile platform transmits the data packet through the digital communication link, so that the transmission quality of the image data can be improved.

Referring to fig. 6, fig. 6 is a schematic structural diagram of a terminal according to an embodiment of the present invention, where the terminal is the first terminal in fig. 1a, and specifically, the terminal includes: a memory 601, a processor 602, a digital image transceiver 603 and a playing device 604.

The memory 601 may include a volatile memory (volatile memory); the memory 601 may also include a non-volatile memory (non-volatile memory); the memory 601 may also comprise a combination of memories of the kind described above. The processor 602 may be a Central Processing Unit (CPU). The processor 602 may further include a hardware chip. The hardware chip may be an application-specific integrated circuit (ASIC), a Programmable Logic Device (PLD), or a combination thereof. The PLD may be a Complex Programmable Logic Device (CPLD), a field-programmable gate array (FPGA), or any combination thereof.

The digital map transceiver 603 is configured to transceive information, for example, the digital map transceiver 603 is configured to receive a data packet including image data sent by the mobile platform, and send a response message to the mobile platform when the first terminal does not receive the data packet from the mobile platform or fails to decode the data packet. The response information includes the first response information or the second response information. The playing device 604 is configured to play the image data in the data packet.

and after receiving the data packet from the mobile platform, sending the data packet to a second terminal so that the second terminal sends the data packet to a playing device, and the playing device plays according to the data packet.

establishing a point-to-point digital communication connection with the mobile platform; and receiving a data packet which is sent by the mobile platform through the point-to-point digital communication connection and comprises image data.

and if the data packet is received from the mobile platform and the data packet is successfully decoded, sending the data packet to the second terminal.

if the data packet is not received from the mobile platform, first response information is sent to the mobile platform through a digital communication link, and the first response information is used for indicating that the first terminal does not receive the data packet from the mobile platform; and receiving the data packet retransmitted by the mobile platform through a digital communication link after receiving the response message.

if the data packet is received from the mobile platform and the decoding of the data packet fails, sending second response information to the mobile platform through a digital communication link, wherein the second response information is used for indicating that the decoding of the data packet by the first terminal fails; and receiving the data packet retransmitted by the mobile platform through a digital communication link after receiving the first response message.

and sending the data packet to the second terminal through a wired communication connection.

encrypting the data packet to obtain an encrypted data packet; and sending the encrypted data packet to the second terminal through the wired communication connection.

In an embodiment of the present invention, the first terminal may receive a data packet transmitted by the mobile platform through the digital communication link. And after receiving the data packet from the mobile platform, sending the data packet to a second terminal, so that the second terminal sends the data packet to a playing device, and the playing device plays the image data in the data packet. The first terminal receives the data packet transmitted by the mobile platform through the digital communication link, so that the transmission quality of the image data can be improved.

Referring to fig. 7, fig. 7 is a schematic structural diagram of a terminal according to an embodiment of the present invention, where the terminal is the second terminal in fig. 1a, and specifically, the terminal includes: memory 701, processor 702.

The memory 701 may include a volatile memory (volatile memory); the memory 701 may also include a non-volatile memory (non-volatile memory); the memory 701 may also comprise a combination of memories of the kind described above. The processor 702 may be a Central Processing Unit (CPU). The processor 702 may further include a hardware chip. The hardware chip may be an application-specific integrated circuit (ASIC), a Programmable Logic Device (PLD), or a combination thereof. The PLD may be a Complex Programmable Logic Device (CPLD), a field-programmable gate array (FPGA), or any combination thereof.

receiving a data packet including image data sent by a first terminal, wherein the data packet is sent to the first terminal by the mobile platform through a digital communication link; and sending the data packet to a playing device so that the playing device plays according to the data packet.

and receiving the data packet sent by the first terminal through wired communication connection.

and receiving the encrypted data packet sent by the first terminal through the wired communication connection, wherein the encrypted data packet is obtained by encrypting the data packet by the first terminal.

In the embodiment of the present invention, the second terminal may receive the data packet sent by the first terminal, and send the data packet to the playback device, so that the playback device plays the image data in the data packet. The data packet is sent to the playing device through the second terminal, so that the playing device can play the image data in the data packet, and live broadcast of the image data can be realized.

Referring to fig. 8, fig. 8 is a schematic structural diagram of a terminal according to an embodiment of the present invention, where the terminal is the third terminal in fig. 1a, and specifically, the terminal includes: a memory 801, a processor 802, a digital image transceiver 803, and a playback device 804.

The memory 801 may include a volatile memory (volatile memory); the memory 801 may also include a non-volatile memory (non-volatile memory); the memory 801 may also comprise a combination of memories of the kind described above. The processor 802 may be a Central Processing Unit (CPU). The processor 802 may further include a hardware chip. The hardware chip may be an application-specific integrated circuit (ASIC), a Programmable Logic Device (PLD), or a combination thereof. The PLD may be a Complex Programmable Logic Device (CPLD), a field-programmable gate array (FPGA), or any combination thereof.

The digital map transceiver 803 is configured to receive a data packet sent by the mobile platform. The playing device 804 is configured to play according to the data packet.

receiving data packets broadcast by the mobile platform over a digital communication link.

In the embodiment of the present invention, the third terminal may receive the data packet sent by the mobile platform through the digital communication link, so that the third terminal may play the image data in the data packet, and the viewer may know the moving condition of the mobile platform in real time through the image data. The third terminal does not need to send response information to the mobile platform, that is, the third terminal does not occupy uplink bandwidth resources, so that the mobile platform can transmit data packets to more third terminals, and the utilization rate of the bandwidth resources can be improved.

Referring to fig. 9, fig. 9 is a schematic structural diagram of a terminal according to an embodiment of the present invention, where the terminal is the fourth terminal in fig. 1a, and specifically, the terminal includes: memory 901, processor 902, digital flight control command transmitter 903, and interaction device 904.

The memory 901 may include a volatile memory (volatile memory); memory 901 may also include non-volatile memory (non-volatile memory); the memory 901 may also comprise a combination of the above-mentioned kinds of memories. The processor 902 may be a Central Processing Unit (CPU). The processor 902 may further include a hardware chip. The hardware chip may be an application-specific integrated circuit (ASIC), a Programmable Logic Device (PLD), or a combination thereof. The PLD may be a Complex Programmable Logic Device (CPLD), a field-programmable gate array (FPGA), or any combination thereof.

The interactive device 904 is configured to receive a control instruction input by a user. The digital flight control command transmitter 903 is configured to send the control instruction to the mobile platform.

In one embodiment, the memory is to store program instructions; the processor calls the program instructions stored in the memory to execute the following steps: receiving a control instruction input by a user; and in a control instruction transmission time slot, sending the control instruction to a mobile platform through a digital communication link so as to enable the mobile platform to execute the control instruction.

In the embodiment of the invention, the fourth terminal sends the control command to the mobile platform through the digital communication link, so that the transmission delay of the control command can be reduced, and the full synchronization between the mobile platform and the fourth terminal can be realized.

In the embodiment of the present invention, a computer-readable storage medium is further provided, where the computer-readable storage medium stores a computer program, and the computer program is executed by a processor to implement the data processing method described in the embodiment corresponding to fig. 2 to 4 of the present invention, and also implement the mobile platform in the embodiment of the present invention shown in fig. 5 and the terminal in the embodiment of the present invention shown in fig. 6 to 9, which are not described herein again.

The computer readable storage medium may be an internal storage unit of the mobile platform or the terminal according to any of the foregoing embodiments, for example, a hard disk or a memory of the device. The computer-readable storage medium may also be an external storage device of the vehicle control apparatus, such as a plug-in hard disk provided on the device, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), or the like. Further, the computer-readable storage medium may also include both an internal storage unit and an external storage device of the apparatus. The computer readable storage medium is used for storing the computer program and other programs and data required by the mobile platform or terminal. The computer readable storage medium may also be used to temporarily store data that has been output or is to be output.

It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by a computer program, which can be stored in a computer-readable storage medium, and can include the processes of the embodiments of the methods described above when the computer program is executed. The storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), or the like. The above disclosure is only for the purpose of illustrating the preferred embodiments of the present invention, and it is therefore to be understood that the invention is not limited by the scope of the appended claims.

Claims

1. A data processing method is applied to a data processing system, wherein the data processing system comprises a mobile platform, a first terminal, a second terminal and a playing device, and the method comprises the following steps:

2. The method of claim 1, wherein before the mobile platform sends the data packet including the image data to the first terminal over the digital communication link, the method further comprises:

the mobile platform establishes point-to-point digital communication connection with the first terminal;

the mobile platform sending a data packet including image data to the first terminal over a digital communication link, comprising:

and the mobile platform sends a data packet comprising image data to the first terminal through the point-to-point digital communication connection.

3. The method according to claim 1 or 2, wherein the first terminal sends the data packet to the second terminal after receiving the data packet from the mobile platform, and the method comprises:

and if the first terminal receives the data packet from the mobile platform and successfully decodes the data packet, sending the data packet to the second terminal.

4. The method of claim 1 or 2, wherein after the mobile platform transmits the data packet comprising the image data to the first terminal over the digital communication link, the method further comprises:

if the first terminal does not receive the data packet from the mobile platform, sending first response information to the mobile platform through a digital communication link, wherein the first response information is used for indicating that the first terminal does not receive the data packet from the mobile platform;

and after receiving the first response message, the mobile platform resends the data packet to the first terminal through a digital communication link.

5. The method of claim 1 or 2, wherein after the mobile platform transmits the data packet comprising the image data to the first terminal over the digital communication link, the method further comprises:

if the first terminal receives the data packet from the mobile platform and fails to decode the data packet, sending second response information to the mobile platform through a digital communication link, wherein the second response information is used for indicating that the first terminal fails to decode the data packet;

and after receiving the second response message, the mobile platform resends the data packet to the first terminal through a digital communication link.

6. The method according to claim 1 or 2, wherein the sending the data packet to the second terminal comprises:

and the first terminal sends the data packet to the second terminal through a wired communication connection.

7. The method of claim 6, wherein the first terminal sending the data packet to the second terminal over a wired communication connection comprises:

the first terminal encrypts the data packet to obtain an encrypted data packet;

and the first terminal sends the encrypted data packet to the second terminal through the wired communication connection.

8. The method of claim 1 or 2, wherein the image data in the data packet is captured by a camera of the mobile platform, and the camera is further used for video recording.

9. The method according to claim 1 or 2, wherein the resolution of the image data in the data packet is greater than a preset resolution threshold.

10. The method of claim 1 or 2, wherein the data processing system further comprises a third terminal, the method further comprising:

and the mobile platform sends the data packet to the third terminal through a digital communication link.

11. The method of claim 10, wherein the mobile platform sends the data packet to the third terminal via a digital communication link, comprising:

the mobile platform broadcasts the data packet to the third terminal over a digital communication link.

12. The method according to claim 10, wherein when the third terminal does not receive the data packet from the mobile platform, the third terminal does not send a third response message to the mobile platform, where the third response message is used to indicate that the third terminal does not receive the data packet from the mobile platform.

13. The method of claim 10, wherein when the third terminal receives the data packet from the mobile platform and fails to decode the data packet, the third terminal does not send fourth response information to the mobile platform, and wherein the fourth response information indicates that the third terminal failed to decode the data packet.

14. The method according to claim 1 or 2, wherein the playing device plays according to the data packet, comprising:

and the playing equipment carries out live broadcast according to the data packet.

15. The method of claim 1 or 2, wherein the data processing system further comprises a fourth terminal, the method further comprising:

the fourth terminal receives a control instruction input by a user;

the fourth terminal sends the control instruction to the mobile platform through a digital communication link in a control instruction transmission time slot;

and after receiving the control instruction from the fourth terminal, the mobile platform executes the control instruction.

16. A data processing method is applied to a mobile platform, and the method comprises the following steps:

17. The method of claim 16, wherein prior to transmitting the data packet including the image data to the first terminal over the digital communication link, the method further comprises:

establishing a point-to-point digital communication connection with the first terminal;

the transmitting a data packet including image data to the first terminal through a digital communication link includes:

and sending a data packet comprising image data to the first terminal through the point-to-point digital communication connection.

18. The method of claim 16 or 17, wherein after transmitting the data packet comprising image data to the first terminal over the digital communication link, the method further comprises:

receiving first response information sent by the first terminal through a digital communication link, wherein the first response information is used for indicating that the first terminal does not receive the data packet from the mobile platform;

retransmitting the data packet to the first terminal over a digital communication link.

19. The method of claim 16 or 17, wherein after transmitting the data packet comprising image data to the first terminal over the digital communication link, the method further comprises:

receiving second response information sent by the first terminal through a digital communication link, wherein the second response information is used for indicating that the first terminal fails to decode the data packet;

20. The method according to claim 16 or 17, wherein the image data in the data packet is captured by a camera of the mobile platform; the shooting device is also used for recording videos.

21. The method of claim 16 or 17, wherein the resolution of the image data in the data packet is greater than a preset resolution threshold.

22. The method according to claim 16 or 17, further comprising:

23. The method of claim 22, wherein said transmitting the data packet to the third terminal over the digital communication link comprises:

24. The method according to claim 16 or 17, further comprising:

receiving a control instruction sent by a fourth terminal through a digital communication link, wherein the control instruction is sent by the fourth terminal in a control instruction transmission time slot;

and executing the control instruction.

25. A data processing method, applied to a first terminal, the method comprising:

26. The method of claim 25, wherein prior to receiving the data packet comprising image data sent by the mobile platform over the digital communication link, the method further comprises:

establishing a point-to-point digital communication connection with the mobile platform;

the receiving mobile platform sends data packets including image data through a digital communication link, and the data packets include:

and receiving a data packet which is sent by the mobile platform through the point-to-point digital communication connection and comprises image data.

27. The method according to claim 25 or 26, wherein said sending the data packet to the second terminal after receiving the data packet from the mobile platform comprises:

28. The method of claim 25 or 26, wherein after receiving the data packet comprising the image data sent by the mobile platform over the digital communication link, the method further comprises:

if the data packet is not received from the mobile platform, first response information is sent to the mobile platform through a digital communication link, and the first response information is used for indicating that the first terminal does not receive the data packet from the mobile platform;

and receiving the data packet retransmitted by the mobile platform through a digital communication link after receiving the response message.

29. The method of claim 25 or 26, wherein after receiving the data packet comprising the image data sent by the mobile platform over the digital communication link, the method further comprises:

if the data packet is received from the mobile platform and the decoding of the data packet fails, sending second response information to the mobile platform through a digital communication link, wherein the second response information is used for indicating that the decoding of the data packet by the first terminal fails;

and receiving the data packet retransmitted by the mobile platform through a digital communication link after receiving the first response message.

30. The method according to claim 25 or 26, wherein said sending the data packet to the second terminal comprises:

31. The method of claim 30, wherein sending the data packet to the second terminal via a wired communication connection comprises:

encrypting the data packet to obtain an encrypted data packet;

and sending the encrypted data packet to the second terminal through the wired communication connection.

32. A data processing method, applied to a second terminal, the method comprising:

receiving a data packet which is sent by a first terminal and comprises image data, wherein the data packet is sent to the first terminal by a mobile platform through a digital communication link;

33. The method of claim 32, wherein receiving the data packet including the image data sent by the first terminal comprises:

and receiving a data packet which is sent by the first terminal through wired communication connection and comprises image data.

34. The method of claim 33, wherein receiving the data packet including the image data sent by the first terminal via the wired communication connection comprises:

and receiving the encrypted data packet including the image data, which is sent by the first terminal through the wired communication connection, wherein the encrypted data packet including the image data is obtained by encrypting the data packet including the image data by the first terminal.

35. A data processing method, applied to a third terminal, the method comprising:

36. The method of claim 35, wherein receiving data packets including image data sent by the mobile platform over the digital communication link comprises:

receiving data packets including image data broadcast by the mobile platform over a digital communication link.

37. A data processing method, applied to a fourth terminal, the method comprising:

receiving a control instruction input by a user;

38. A data processing system, characterized in that the data processing system comprises a mobile platform, a first terminal, a second terminal and a playing device, wherein the mobile platform, the first terminal, the second terminal and the playing device are used for executing the data processing method according to claims 1-15.

39. A mobile platform, comprising: a camera, a digital image transceiver, a mobile device, a memory, and a processor, wherein,

the mobile device is used for controlling the mobile platform to move;

the shooting device is used for shooting to obtain image data;

the memory to store program instructions;

the processor, for invoking program instructions stored by the memory, for performing the data processing method of claims 16-24.

40. A terminal, characterized in that the terminal comprises a digital image transceiver, a playing device, a memory and a processor,

the playing device is used for playing according to the data packet;

the memory to store program instructions;

the processor, for invoking program instructions stored by the memory, for performing the data processing method of claims 25-31.

41. A terminal, characterized in that the terminal comprises a memory and a processor,

the memory to store program instructions;

the processor, for invoking program instructions stored by the memory, for performing the data processing method of claims 32-34.

42. A terminal, characterized in that the terminal comprises a digital image transceiver, a playing device, a memory and a processor,

the digital image transceiver is used for receiving a data packet comprising image data;

the playing device is used for playing according to the data packet;

the memory to store program instructions;

the processor, for invoking program instructions stored by the memory, for performing the data processing method of claims 35-36.

43. A terminal, comprising a digital flight control command transmitter, an interaction device, a memory, and a processor,

the digital flight control command transmitter is used for transmitting the control instruction;

the memory to store program instructions;

the processor, for invoking program instructions stored by the memory, for performing the data processing method of claim 37.

44. A computer-readable storage medium, comprising: the computer-readable storage medium stores a computer program which, when executed by a processor, is adapted to perform the data processing method of any one of claims 1 to 37.