WO2019200848A1 - 无人机数据传输系统、方法、装置和计算机设备 - Google Patents

无人机数据传输系统、方法、装置和计算机设备 Download PDF

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Publication number
WO2019200848A1
WO2019200848A1 PCT/CN2018/109165 CN2018109165W WO2019200848A1 WO 2019200848 A1 WO2019200848 A1 WO 2019200848A1 CN 2018109165 W CN2018109165 W CN 2018109165W WO 2019200848 A1 WO2019200848 A1 WO 2019200848A1
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WO
WIPO (PCT)
Prior art keywords
drone
data
data transmission
bridge
monitoring device
Prior art date
Application number
PCT/CN2018/109165
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English (en)
French (fr)
Chinese (zh)
Inventor
孙颖
曲烽瑞
Original Assignee
广州供电局有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Application filed by 广州供电局有限公司 filed Critical 广州供电局有限公司
Priority to KR1020207015323A priority Critical patent/KR102374670B1/ko
Publication of WO2019200848A1 publication Critical patent/WO2019200848A1/zh

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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B7/00—Radio transmission systems, i.e. using radiation field
    • H04B7/14—Relay systems
    • H04B7/15—Active relay systems
    • H04B7/185—Space-based or airborne stations; Stations for satellite systems
    • H04B7/18502—Airborne stations
    • H04B7/18506—Communications with or from aircraft, i.e. aeronautical mobile service
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L12/00—Data switching networks
    • H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
    • H04L12/46—Interconnection of networks
    • H04L12/4604—LAN interconnection over a backbone network, e.g. Internet, Frame Relay
    • H04L12/462—LAN interconnection over a bridge based backbone
    • H04L12/4625—Single bridge functionality, e.g. connection of two networks over a single bridge
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L65/00—Network arrangements, protocols or services for supporting real-time applications in data packet communication
    • H04L65/60—Network streaming of media packets
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L65/00—Network arrangements, protocols or services for supporting real-time applications in data packet communication
    • H04L65/60—Network streaming of media packets
    • H04L65/65—Network streaming protocols, e.g. real-time transport protocol [RTP] or real-time control protocol [RTCP]
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L69/00—Network arrangements, protocols or services independent of the application payload and not provided for in the other groups of this subclass
    • H04L69/16—Implementation or adaptation of Internet protocol [IP], of transmission control protocol [TCP] or of user datagram protocol [UDP]
    • H04L69/163—In-band adaptation of TCP data exchange; In-band control procedures
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
    • H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources

Definitions

  • the present application relates to the field of telecommunications technologies, and in particular, to a drone data transmission system, method, device and computer device.
  • the drone can collect visualized drone data during the inspection process.
  • the drone data will be temporarily saved locally on the collection terminal equipped with the drone, and then the temporarily saved UAV data will be exported to the server of the monitoring center for analysis and processing. Therefore, the monitoring center cannot obtain the drone data for analysis and processing in real time.
  • a UAV data transmission method comprising:
  • a controller disposed in the monitoring center, a first bridge device installed on each of the transmission lines, a second bridge device deployed in the substation, and a data transmission device carried on the drone; wherein the second bridge The device is connected to a monitoring device provided in the monitoring center;
  • the controller is configured to control a bridge between each of the first bridge device and the second bridge device to provide a communication channel for data transmission of the drone;
  • the data transmission device transmits the drone data to the monitoring device through the communication channel.
  • the number of the first bridge devices on the same tower is two, and the number of the second bridge devices deployed in the substation is one;
  • the first bridge devices on the same iron tower are connected by wire, and the first bridge devices on different iron towers are connected by wireless, and the first device and the closest to the substation The second bridge device is connected by wireless.
  • the UAV data transmission system, the working frequency band of each of the first bridge devices and the working frequency band of the second bridge device each include a first frequency band, wherein the first The frequency band is configured to be configured as a wireless access point;
  • the controller is configured to control wireless access points of different bridge devices to enable the drone to roam seamlessly between different bridge devices.
  • the UAV data transmission system, the working frequency band of each of the first bridge devices and the working frequency band of the second bridge device each include a second frequency band, wherein the second The frequency band is used to carry data backhaul;
  • the drone device transmits the drone data back to the monitoring device through the second frequency band in a roaming state.
  • the UAV data transmission system is further configured to receive, by the communication channel, a control instruction generated by the monitoring device, and control the unmanned according to the control instruction.
  • the machine and/or the equipment carried on the drone perform corresponding operations.
  • a UAV data transmission method based on the UAV data transmission system comprising:
  • the monitoring device After the monitoring device receives the encoded data, instructing the monitoring device to decode the encoded data to obtain the drone data.
  • the UAV data transmission method after the step of instructing the monitoring device to decode the encoded data to obtain the UAV data, includes:
  • a UAV data transmission device includes:
  • An obtaining module configured to acquire drone data, and encode the drone data to obtain encoded data
  • a sending module configured to send the encoded data to the monitoring device by using the communication channel when listening to a data transmission request of the monitoring device;
  • an indication module configured to: after the monitoring device receives the encoded data, instruct the monitoring device to decode the encoded data to obtain the drone data.
  • a computer device comprising a memory, a processor, and a computer program stored on the memory and operable on the processor, the processor executing the computer program to implement the following steps:
  • the monitoring device After the monitoring device receives the encoded data, instructing the monitoring device to decode the encoded data to obtain the drone data.
  • a computer readable storage medium having stored thereon a computer program that, when executed by a processor, implements the following steps:
  • the monitoring device After the monitoring device receives the encoded data, instructing the monitoring device to decode the encoded data to obtain the drone data.
  • the above-mentioned drone data transmission method, device, computer equipment and storage medium are installed in a first bridge device of each transmission tower of a transmission line through a controller provided in a monitoring center, and a second bridge device deployed in the substation is
  • the drone data provides a real-time backhaul communication channel, and the data transmission device transmits the drone data to the monitoring device through the communication channel, which can realize real-time back transmission of the drone data, and can acquire the drone data in real time for analysis. And processing.
  • FIG. 1 is a schematic diagram of a data transmission system of a drone in an embodiment
  • FIG. 2 is a schematic diagram of a data transmission system of a drone in another embodiment
  • FIG. 3 is a schematic diagram of a data transmission system of a drone in still another embodiment
  • FIG. 4 is a schematic flow chart of a data transmission method of a drone in an embodiment
  • Figure 5 is a block diagram showing the structure of a data transmission device for a drone in one embodiment
  • Figure 6 is a diagram showing the internal structure of a computer device in an embodiment.
  • the drone data transmission system in one embodiment, as shown in FIG. 1, includes: a controller 101 provided at the monitoring center 108, a first bridge device 102 installed on each of the transmission towers 107, and a substation
  • Monitoring device 106 can be, but is not limited to, a variety of personal computers, notebook computers, smart phones, tablets, and portable wearable devices.
  • the controller 101 is an AC (Wireless Access Point Controller) controller
  • the monitoring device 106 is a PC (personal computer) as an example, and will be described in detail.
  • the controller 101 is connected to the first bridge device 102 through the second bridge device 103; wherein the second bridge device 103 is also connected to the monitoring device 105 provided at the monitoring center 108; the controller 101 is configured to control each The first bridge device 102 and the second bridge device 103 bridge the wireless network to provide a communication channel for the data transmission of the drone to the monitoring device.
  • the AC controller and the second bridge device 103 can be connected through a switch, and the switch is used for the electrical or optical signal forwarding network device, and can provide exclusive access to any two network nodes of the access switch. Electrical signal path.
  • the first bridge device installed on each electric tower of the transmission line and the second bridge device deployed in the substation provide a real-time return communication channel for the drone data through the controller provided in the monitoring center,
  • the monitoring device located in the monitoring center can acquire the drone data in real time through the channel.
  • the drone data transmission system in one embodiment, as shown in FIG. 2, includes the data transmission device 104 carried on the drone in addition to the various devices in FIG. 1; in the embodiment of the present invention, data is
  • the transmission device is a diagram transmission device as an example for detailed description. Among them, the image transmission device is used to collect video images of the drone work site.
  • the controller is configured to control each of the first bridge device 102 and the second bridge device 103 to bridge the wireless network, and provide a communication channel for the data transmission of the drone; the data transmission device 104 transmits the data of the drone to the monitoring device through the communication channel. .
  • the data transmission device 104 is connected to the first bridge device closest to the data transmission device; the data transmission device accesses the communication channel through the first bridge device, and sends the collected drone data to the second through the communication channel.
  • the bridge device 103, the second bridge device 103 transmits the drone data to the monitoring device 106.
  • the controller may be an AC controller
  • the data transmission device 104 may be a picture transmission device
  • the monitoring device 106 may be a PC.
  • the TCP server may be established in the picture transmission device to listen to a specific port.
  • the PC set in the monitoring center can access the TCP Server in the image transmission device through a specific software using a TCP Client (Transmission Control Protocol Client), according to the corresponding data transmission protocol. , get the data stream, and then decode and play.
  • the data of the drone is video data
  • the video stream can be acquired according to the corresponding video transmission protocol, and then decoded and played.
  • the video stream can be simultaneously stored in the file according to the time series, and can also be saved as an independent hourly. file.
  • the first bridge device installed on each electric tower of the transmission line and the second bridge device deployed in the substation provide a real-time return communication channel for the drone data through the controller provided in the monitoring center
  • the data transmission device transmits the data of the drone to the monitoring device through the communication channel, which can realize the real-time back transmission of the data of the drone, and can realize the real-time return of the video data of the drone on the live line of the transmission line, and can also save the unmanned real-time in real time.
  • Machine job live video image
  • two towers are shown, namely an iron tower 107a and an iron tower 107b, respectively, and the number of first bridge devices on the same tower is two.
  • the first tower device 102a and the first bridge device 102a are included on the tower 107a
  • the first bridge device 102c and the first bridge device 102d are included on the tower 107b
  • the number of the second bridge devices 103 deployed in the substation is one.
  • the double-arrow solid line in Figure 3 represents the wired connection
  • the double-arrow solid line represents the wireless connection.
  • the first bridge device on the same tower is connected by wire, and the first bridge devices on different towers are connected by wireless, between the first device and the second bridge device closest to the substation Connect wirelessly.
  • the first bridge device on the same tower can be connected through Gigabit Ethernet.
  • the end-to-end transmission bandwidth is actually determined by the wireless bridging performance of the two bridges.
  • the back-to-back two first bridges are connected by wire via Gigabit Ethernet.
  • the remote network is also connected via Gigabit Ethernet. Therefore, the bandwidth and latency of a pair of wireless bridges determine the performance and throughput of the entire network.
  • the first bridge device and the second bridge device can both adopt directional antennas, and the reference coverage of the directional antenna is larger than the omnidirectional reference coverage, which can be 5 km-10 km, and the omnidirectional antenna coverage is only 1 km- 2 km.
  • the spacing between the tower and the tower is about 5 km - 10 km, so the bridge device in this embodiment can use a directional antenna.
  • the first bridge device installed on each electric tower of the transmission line and the second bridge device deployed in the substation provide a real-time return communication channel for the drone data through the controller provided in the monitoring center,
  • the data transmission device transmits the data of the drone to the monitoring device through the communication channel, which can realize the real-time back transmission of the data of the drone, and can acquire the data of the drone in real time for analysis and processing.
  • the working frequency band of each of the first bridge devices and the working frequency band of the second bridge device both include the first frequency band, wherein the first frequency band is configured to be configured as a wireless access interface.
  • the controller is used to control the wireless access points of different bridge devices, so that the drone can roam seamlessly between different bridge devices.
  • the bridge can access the light in the substation through the Gigabit Ethernet.
  • the communication network is finally connected to the remote control center (monitoring center).
  • An AC controller can be deployed in the remote control center to control the AP (Wireless Access Point) function of the wireless bridge on the entire line, so that the UAV can pass through the boundary of the two APs. Seamless roaming.
  • the first bridge device installed on each electric tower of the transmission line and the second bridge device deployed in the substation provide a real-time return communication channel for the drone data through the controller provided in the monitoring center,
  • the data transmission device transmits the data of the drone to the monitoring device through the communication channel, which can realize the real-time back transmission of the data of the drone, and can acquire the data of the drone in real time for analysis and processing.
  • the working frequency band of each first bridge device and the working frequency band of the second bridge device may further include a second frequency band, wherein the second frequency band is used for carrying data backhaul; the drone device is roaming In the state, the drone data is transmitted back to the monitoring device through the second frequency band.
  • each bridge device may include two working frequency bands, for example, may include two application-free WiFi frequency bands of 2.4G and 5.8G.
  • the second frequency band is used as a wireless bridge to carry data backhaul; the first frequency band is used as an AP function to receive image transmission and control data of the drone. It can be configured on site or remotely depending on the drone or other operating terminal at the job site.
  • the wireless bridge adopts the 2.4G frequency band as the return channel.
  • the wireless bridge close-range maximum speed can reach about 800Mbps, the distance is less than 5km, the speed can reach 100Mbsp, the distance is within 10km, and the speed can reach 50Mbps.
  • the wireless backhaul delay of a pair of bridges is a minimum of about 5 milliseconds, and the two-way packet loss is about zero.
  • the back-to-back bridge of the same tower has a latency of less than 1 millisecond for Gigabit Ethernet and a bidirectional packet loss of approximately zero.
  • the delay generated by each bridge is less than 6 milliseconds, and the bandwidth and delay of the multi-hop network are predictable.
  • the dedicated QOS optimization technique is not used, the delay of wireless backhaul for each pair of bridges is about 20-30 milliseconds.
  • the delay and bandwidth of the wireless bridge multi-hop can be effectively guaranteed on the transmission line.
  • the delay of data remote transmission is determined and predictable.
  • the network can also carry real-time control services for real-time control of the drone and the working robot, and can realize the control signal of the remotely dispatching the drone.
  • the data transmission device in the UAV data transmission system can also be used to receive a control command generated by the monitoring device through the communication channel, and control the device carried on the drone and/or the drone according to the control command. The corresponding operation.
  • a TCP Sever may be established in the image transmitting device of the drone to receive remote control data, and the image transmitting device of the drone further has a serial communication interface, and the interface physical
  • the layer conforms to the physical layer specification of the S-Bus (system bus) bus.
  • the remote control software establishes a connection with the TCP Server of the remote image transmitting device through the TCP Client, and then simulates the motion data of the multiple channels through the software, and transmits the motion data to the image transmitting device.
  • the image transmitting device sends the data to the flight control device from the serial port, thereby realizing the real-time delivery of the remote control command.
  • the first bridge device installed on each electric tower of the transmission line and the second bridge device deployed in the substation provide a real-time return communication channel for the drone data through the controller provided in the monitoring center,
  • the data transmission device transmits the data of the drone to the monitoring device through the communication channel, which can realize the real-time back transmission of the data of the drone, and can realize the remote real-time video monitoring of the transmission line and the action control function of the drone.
  • a data transmission method for a drone is provided.
  • the method is applied to the data transmission device in FIG. 2 and FIG. 3 as an example, and includes the following steps:
  • the drone data can be an image and video taken by an unmanned camera with a visible light camera.
  • the drone can use the high-definition camera to output video signals to the remote image transmitting device through the HDMI interface (High Definition Multimedia Interface), and then the original video signal is processed by the image transmitting device into a video stream of a specific format.
  • the picture transmitting device can access the communication system on the power line through WiFi, and establish a TCP Server server in the picture transmitting device to listen to a specific port, and the remote control center can connect to the TCP server through specific software to request video stream transmission.
  • the video can be transmitted to the receiving end by a network protocol of the image transmitting device.
  • two core problems can be solved in the data transmission process, one is the conversion of the HDMI original video signal to the video format of a specific format, that is, the video encoding work; and the other is to encode the video to a certain network transmission protocol. Transfer to the remote receiving device.
  • video compression can be compressed in the H264 or H265 format.
  • the standard protocol for network video transmission can use mms, rtp, rtsp, http and other protocols to achieve the minimum delay of video by adjusting the parameters such as the buffer of the transmission process.
  • the TCP client can be used to access the TCP server on the UAV through the software on the monitoring device, and the video stream can be obtained according to the corresponding video transmission protocol, and then decoded and played, or the video stream can be simultaneously simultaneously.
  • the video stream can be obtained according to the corresponding video transmission protocol, and then decoded and played, or the video stream can be simultaneously simultaneously.
  • the first bridge device installed on each electric tower of the transmission line and the second bridge device deployed in the substation provide a real-time return communication channel for the drone data through the controller provided in the monitoring center,
  • the data transmission device transmits the data of the drone to the monitoring device through the communication channel, which can realize the real-time back transmission of the data of the drone, and can acquire the data of the drone in real time for analysis and processing.
  • the drone data transmission method after the step of instructing the monitoring device to decode the encoded data to obtain the drone data, includes:
  • the monitoring device generates a control command according to the drone data, acquires a control command through the communication channel, and sends the control command to the flight control system, and the control command is used to instruct the flight control system to control the drone and/or the drone according to the control command.
  • the device performs the corresponding operation.
  • the operation control of the drone can be realized by the flight control system.
  • the flight control system has an S-Bus receiving channel. Through the S-Bus protocol analysis, the corresponding control channel is converted into PWM (Pulse Width Modulation) to control the motor rotation, thereby driving the corresponding action device to perform the operation.
  • PWM Pulse Width Modulation
  • the first bridge device installed on each electric tower of the transmission line and the second bridge device deployed in the substation provide a real-time return communication channel for the drone data through the controller provided in the monitoring center
  • the data transmission device transmits the data of the drone to the monitoring device through the communication channel, which can realize the real-time back transmission of the data of the drone, can acquire the data of the drone in real time for analysis and processing, and realize the real-time video monitoring and non-transmission of the transmission line.
  • steps in the flowchart of FIG. 4 are sequentially displayed as indicated by the arrows, these steps are not necessarily performed in the order indicated by the arrows. Except as explicitly stated herein, the execution of these steps is not strictly limited, and the steps may be performed in other orders. Moreover, at least some of the steps in FIG. 4 may include a plurality of sub-steps or stages, which are not necessarily performed at the same time, but may be executed at different times, and the execution of these sub-steps or stages The order is also not necessarily sequential, but may be performed alternately or alternately with other steps or at least a portion of the sub-steps or stages of the other steps.
  • a drone data transmission device including:
  • the obtaining module 51 is configured to acquire the drone data, and encode the drone data to obtain the encoded data;
  • the sending module 52 is configured to send the encoded data to the monitoring device through the communication channel when the data transmission request of the monitoring device is monitored;
  • the indicating module 53 is configured to instruct the monitoring device to decode the encoded data to obtain the drone data after the monitoring device receives the encoded data.
  • UAV data transmission device For specific definitions of the UAV data transmission device, reference may be made to the above description of the UAV data transmission method, and details are not described herein again.
  • Each of the above-described UAV data transmission devices may be implemented in whole or in part by software, hardware, and combinations thereof.
  • Each of the above modules may be embedded in or independent of the processor in the computer device, or may be stored in a memory in the computer device in a software form, so that the processor invokes the operations corresponding to the above modules.
  • first ⁇ second ⁇ third according to the embodiment of the present invention is merely a similar object, and does not represent a specific ordering for an object. It can be understood that “first ⁇ second ⁇ ” The third "can be interchanged in a specific order or order, where permitted.” It is to be understood that the "first ⁇ second ⁇ third” distinguished objects may be interchanged as appropriate to enable the embodiments of the invention described herein to be carried out in a sequence other than those illustrated or described herein.
  • references to "an embodiment” herein mean that a particular feature, structure, or characteristic described in connection with the embodiments can be included in at least one embodiment of the present application.
  • the appearances of the phrases in various places in the specification are not necessarily referring to the same embodiments, and are not exclusive or alternative embodiments that are mutually exclusive. Those skilled in the art will understand and implicitly understand that the embodiments described herein can be combined with other embodiments.
  • Multiple as referred to herein means two or more. "and/or”, describing the association relationship of the associated objects, indicating that there may be three relationships, for example, A and/or B, which may indicate that there are three cases where A exists separately, A and B exist at the same time, and B exists separately.
  • the character "/" generally indicates that the contextual object is an "or" relationship.
  • a computer device which may be a server, and its internal structure diagram may be as shown in FIG. 6.
  • the computer device includes a processor, memory, network interface, and database connected by a system bus.
  • the processor of the computer device is used to provide computing and control capabilities.
  • the memory of the computer device includes a non-volatile storage medium, an internal memory.
  • the non-volatile storage medium stores an operating system, a computer program, and a database.
  • the internal memory provides an environment for operation of an operating system and computer programs in a non-volatile storage medium.
  • the database of the computer device is used to store drone data.
  • the network interface of the computer device is used to communicate with an external terminal via a network connection.
  • the computer program is executed by the processor to implement a drone data transmission method.
  • FIG. 6 is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation of the computer device to which the solution of the present application is applied.
  • the specific computer device may It includes more or fewer components than those shown in the figures, or some components are combined, or have different component arrangements.
  • a computer apparatus comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, the processor performing the following steps when executing the computer program:
  • the encoded data is sent to the monitoring device through the communication channel;
  • the monitoring device After the monitoring device receives the encoded data, the monitoring device is instructed to decode the encoded data to obtain drone data.
  • the processor further implements the following steps when executing the computer program:
  • the monitoring device generates a control command according to the drone data, acquires a control command through the communication channel, and sends the control command to the flight control system, and the control command is used to instruct the flight control system to control the drone and/or the drone according to the control command.
  • the device performs the corresponding operation.
  • a computer readable storage medium having stored thereon a computer program that, when executed by a processor, implements the following steps:
  • the encoded data is sent to the monitoring device through the communication channel;
  • the monitoring device After the monitoring device receives the encoded data, the monitoring device is instructed to decode the encoded data to obtain drone data.
  • the computer program is executed by the processor to also implement the following steps:
  • the monitoring device generates a control command according to the drone data, acquires a control command through the communication channel, and sends the control command to the flight control system, and the control command is used to instruct the flight control system to control the drone and/or the drone according to the control command.
  • the device performs the corresponding operation.
  • Non-volatile memory can include read only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory.
  • Volatile memory can include random access memory (RAM) or external cache memory.
  • RAM is available in a variety of formats, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronization chain.
  • SRAM static RAM
  • DRAM dynamic RAM
  • SDRAM synchronous DRAM
  • DDRSDRAM double data rate SDRAM
  • ESDRAM enhanced SDRAM
  • Synchlink DRAM SLDRAM
  • Memory Bus Radbus
  • RDRAM Direct RAM
  • DRAM Direct Memory Bus Dynamic RAM
  • RDRAM Memory Bus Dynamic RAM

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PCT/CN2018/109165 2018-04-17 2018-09-30 无人机数据传输系统、方法、装置和计算机设备 WO2019200848A1 (zh)

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CN113890977A (zh) * 2021-10-13 2022-01-04 中国电子科技集团公司第三研究所 机载视频处理装置及具有其的无人机
CN115022685A (zh) * 2022-06-02 2022-09-06 上海普适导航科技股份有限公司 一种适用于无人机的视频传输方法及装置
CN115348422A (zh) * 2022-08-12 2022-11-15 亿航智能设备（广州）有限公司 无人机图传方法、系统及计算机可读存储介质
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