WO2021081933A1 - 控制方法、数据传输装置、拍摄装置、控制系统、云台、可移动平台以及计算机可读存储介质 - Google Patents

控制方法、数据传输装置、拍摄装置、控制系统、云台、可移动平台以及计算机可读存储介质 Download PDF

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Publication number
WO2021081933A1
WO2021081933A1 PCT/CN2019/114840 CN2019114840W WO2021081933A1 WO 2021081933 A1 WO2021081933 A1 WO 2021081933A1 CN 2019114840 W CN2019114840 W CN 2019114840W WO 2021081933 A1 WO2021081933 A1 WO 2021081933A1
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Prior art keywords
data
time
timing signal
data transmission
processing
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PCT/CN2019/114840
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English (en)
French (fr)
Inventor
王晓东
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深圳市大疆创新科技有限公司
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Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to PCT/CN2019/114840 priority Critical patent/WO2021081933A1/zh
Priority to CN201980038689.8A priority patent/CN112335223B/zh
Publication of WO2021081933A1 publication Critical patent/WO2021081933A1/zh

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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/665—Control of cameras or camera modules involving internal camera communication with the image sensor, e.g. synchronising or multiplexing SSIS control signals

Definitions

  • This application relates to the field of image processing, and in particular to a control method, a data transmission device, a photographing device, a control system, a pan/tilt, a movable platform, and a computer-readable storage medium.
  • the shooting device sends the collected video/image data to the image transmission sending end, the image transmission sending end processes the data and then sends it to the image transmission receiving end, and the image transmission receiving end processes the data.
  • Operations such as display will cause video transmission delay in the process, and the greater the delay in the video transmission process, the more it affects the user experience. Therefore, reducing the video transmission delay has become a technical problem that needs to be solved urgently.
  • one of the objectives of the present invention is to provide a control method, a data transmission device, a photographing device, a control system, a pan-tilt, a movable platform, and a computer-readable storage medium.
  • the first aspect of the embodiments of the present application provides a control method, which is applied to a data transmission device, the data transmission device includes a data transmission module and one or more processing modules, and the method includes:
  • a timing signal to be sent to the imaging device is generated, so that the imaging device transmits the data to the data transmission device under the control of the timing signal.
  • a second aspect of the embodiments of the present application provides a control method applied to a photographing device, and the method includes:
  • a third aspect of the embodiments of the present application provides a data transmission device, including a data sending module and one or more processing modules;
  • the data sending module is configured to: obtain the data sending time; obtain the processing time delay required by each of the processing modules to process the data; based on the sending time and the processing time delay, generate a timing signal to be sent to the photographing device, So that the photographing device transmits the data to the data transmission device under the control of the timing signal.
  • a fourth aspect of the embodiments of the present application provides a photographing device, including:
  • the lens assembly is arranged inside the housing;
  • a sensor component arranged inside the housing, for sensing light passing through the lens component and generating data
  • the processor is arranged inside the housing, and is used to receive a timing signal sent by a data transmission device, and send the data to the data transmission device under the control of the timing signal.
  • a fifth aspect of the embodiments of the present application provides a control system, which is characterized by including the data transmission device described in the third aspect and the photographing device described in the fourth aspect.
  • a sixth aspect of the embodiments of the present application provides a pan-tilt, including:
  • Angle sensor used to collect the angle information of the pan/tilt axis
  • the seventh aspect of the embodiments of the present application provides a movable platform, including:
  • the power system is installed on the fuselage to provide power
  • An eighth aspect of the embodiments of the present application provides a computer-readable storage medium, which is characterized by storing a computer program, and the computer program includes instructions for executing the methods described in the first aspect and the second aspect.
  • the embodiment of the application obtains the data sending time of the data sending module and the processing delay required by each processing module to process the data, and then generates and sends to the photographing device based on the data sending time and the processing delay
  • the timing signal of the camera so that the photographing device sends the data to the data transmission device under the control of the timing signal, so that the data sent by the photographing device is sent to the data sending module after being processed by the processing module
  • the data sending module is just ready to start sending the data, it is helpful to reduce the waiting time for the data sending module to send data, thereby reducing the image transmission delay, realizing fixed-delay pipeline processing, and also conducive to reducing Delay jitter of data transmission.
  • Fig. 1 is a flowchart showing a control method according to an exemplary embodiment of the present application.
  • Fig. 2 is a structural diagram of a data transmission device according to an exemplary embodiment of the present application.
  • Fig. 3 is a structural diagram of another data transmission device according to an exemplary embodiment of the present application.
  • Fig. 4 is a schematic diagram showing a processing flow of a frame of picture data sent by the photographing device according to an exemplary embodiment of the present application.
  • Fig. 5 is a flowchart of a second control method according to an exemplary embodiment of the present application.
  • Fig. 6 is a flowchart of a third control method according to an exemplary embodiment of the present application.
  • Fig. 7 is a structural diagram of a photographing device according to an exemplary embodiment of the present application.
  • Fig. 8 is a structural diagram of a control system according to an exemplary embodiment of the present application.
  • Fig. 9 is a structural diagram of a pan/tilt head according to an exemplary embodiment of the present application.
  • Fig. 10 is a structural diagram of a movable platform according to an exemplary embodiment of the present application.
  • each step of the data transmission is arranged as a pipelined processing flow, that is, the processing of the current step is completed
  • the time is exactly the time when the next step starts processing. But this requires the timing of each step to be able to cooperate with each other. However, during the transmission process, there are still situations in which the timing of some steps cannot be matched.
  • the time of one frame of picture data may be asynchronous. For example, when the data transmission device can currently send picture data to the opposite end, it has not yet received the picture data sent by the photographing device, causing the data transmission device to wait for the photographing device to send the picture.
  • Data transmission delay is generated, and fixed-delay pipeline processing cannot be achieved. Because the time for the data transmission device to wait for the image data sent by the camera is not fixed, the delay of each image data or video data transmission is not fixed. , The jitter that causes the image data or video data reception delay, affects the user’s viewing experience.
  • FIG. 1 is a flowchart of the control method provided by the embodiment of the present application.
  • the control method can be applied to the data transmission device 10, and the data transmission device 10 is used to transmit image or video data to the opposite end.
  • FIG. 2 is a structural diagram of a data transmission device 10 according to an embodiment of this application.
  • the data transmission device 10 includes a data sending module 12 and one or more processing modules 11, the processing module 11 is used to process the data captured by the camera according to its own functions, and the data sending module 12 is used to send For data captured by the photographing device, the photographing device may be a camera or other equipment.
  • the data transmission device 10 includes two processing modules 11 as an example for illustration, but the embodiment of the present application describes the processing module 11 There is no limit to the number of, it can be 3, 4, 5, etc.
  • the method includes:
  • step S101 the data sending time of the data sending module is acquired.
  • step S102 the processing time delay required by each of the processing modules to process data is acquired.
  • step S103 based on the data transmission time and the processing time delay, a timing signal sent to the photographing device is generated, so that the photographing device sends the data transmission device to the data transmission device under the control of the timing signal. data.
  • the processing delay required by each of the processing modules to process data may be recorded in the data transmission device in advance, wherein the data may be collected by the photographing device when taking pictures or videos. For example, one frame of video when shooting a video, that is (one frame of picture data); after the data transmission device obtains the data transmission time of the data transmission module, it may be based on the data transmission time and the processing Time delay, generating a timing signal to be sent to a photographing device, so that the photographing device sends the data to the data transmission device under the control of the timing signal.
  • the data transmission time of the photographing device is controlled according to the data transmission time of the data transmission module and the processing delay of the known processing module, so that a frame of image data sent by the photographing device is processed by the processing module
  • the data sending module is just ready to start sending the picture data of the frame, which helps to reduce the waiting time for the data sending module to send data, reduce the image transmission delay, and realize fixed-delay pipeline processing , It is also beneficial to reduce the delay jitter of data transmission.
  • the time specified by the timing signal may be determined according to the data transmission time of each frame of picture data sent by the data transmission module and the processing delay of each processing module, so that the data transmission module When sending the timing signal to the photographing device, the photographing device can send the data to the data transmission device at the time specified by the timing signal, and the data may be photographed by the photographing device One frame of picture data.
  • the photographing device considering the limited storage capacity of the photographing device, if the photographing device collects data at a fixed frame rate, and the frequency of sending data is lower than the frequency of collecting data, the photographing device needs a certain amount of The memory to store the data waiting to be sent may cause the shooting device to be unable to store all the data collected before the data is sent. Therefore, the shooting device in the embodiment of the present application may also perform the data according to the time specified by the timing signal The data can be sent immediately after the collection, which not only reduces the delay of image transmission, but also reduces the memory of the shooting device, thereby ensuring the validity of the collected data.
  • the time specified by the timing signal may be: before the data transmission time and a time delay from the data transmission time interval; the delay time is the processing time of all processing modules
  • the data transmission device includes 3 processing modules, and the processing delay of each processing module to process data is 0.1s, then the delay time is 0.3s, and the data sending module sends a frame of picture data
  • the time specified by the timing signal is 9.7s, or other time before the 9.7s.
  • the time specified by the timing signal can be set according to each processing module.
  • the margin for example, a total time margin of 0.05 seconds can be set for each processing module, and the processing time delay of each processing module data is added to the time margin, and the delay time is 0.35 seconds, which is specified by the timing signal The time is 9.65 seconds.
  • the time is 9.65 seconds.
  • the processing module 11 includes an image processing module 111, a compression module 112, and an encoding and modulation module 113, wherein the image processing module 111, the compression module 112, and the encoding and modulation module 113 can be
  • the sequential connection may also be non-sequential connection.
  • the hardware connection mode is not limited here.
  • the image processing module 111, the compression module 112, and the encoding and modulation module 113 are connected in sequence for illustration.
  • the image processing module 111 Used to process a frame of picture data output by the camera, the compression module 112 is used to compress the processed frame of picture data, and the code modulation module 113 is used to compress the compressed frame of picture data Perform coding and modulation processing.
  • the control method can be applied to a wireless video transmission system, where, at the sending end, the shooting device transmits a frame of video data taken to the data transmission device, and the data transmission device One frame of video data is processed and transmitted to the receiving end.
  • the data transmission device will adopt sub-frame level processing, that is, one frame of video data is compressed and packaged in a time unit less than one frame, and then passed Data transmission module (such as wireless physical layer) for transmission.
  • Data transmission module such as wireless physical layer
  • the process of generating, compressing, packaging, and transmitting one frame of video data is performed in parallel in a pipeline manner in a time unit less than one frame, so as to obtain a lower image transmission delay.
  • the compression module can compress and pack the data sent by the photographing device or the previous processing module into at least two parts, and transfer the part to the next processing module or after the compression and packaging of each part is completed.
  • the data sending module so that when the compression module continues to compress and pack the next part, the next processing module or the data sending module can process or transmit the received part first, so that the processing flow between the modules can be parallel In order to improve the efficiency of data transmission and reduce the delay of data transmission.
  • the data may be a frame of picture data taken by the photographing device.
  • FIG. 4 is a processing flow of a frame of picture data sent by the photographing device.
  • the photographing device sends a frame of picture data to the image processing module 111, and the image processing module 111 processes it and sends it to the compression module 112.
  • the compression module 112 receives the processed image data from the image processing module 111.
  • One frame of picture data is compressed and packaged into at least two parts (in Figure 4, one frame of picture data is divided into three parts as an example for illustration), and the part of the picture is directly after the completion of the compression and packaging of each part of the picture data
  • the data is transmitted to the coding and modulation module 113, so that when the compression module 112 continues to compress and pack the next part of the picture data, the coding and modulation module 113 can first process the received part of the picture data without waiting for the compression module 112 has compressed a frame of picture data. After the coding and modulation module 113 completes the coding and modulation of this part of the picture data, it can directly transmit it to the data sending module 12, and can continue to process the transmission by the compression module 112.
  • the data sending module 12 can first send the part of the picture data transmitted by the coding and modulation module 113 without waiting for the coding and modulation module 113 to process one frame of picture data, that is, each module
  • the processing procedures can be performed in parallel, thereby effectively improving data transmission efficiency and reducing data transmission delay.
  • the present invention does not limit the compression module to compress and pack the data into several parts, which can be 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, or 16, etc.
  • the processing time delay of the image processing module includes the time required to process one frame of image data
  • the processing time of the compression module includes the maximum processing time spent in processing each part of the picture data using a specified compression algorithm
  • the processing delay of the coding modulation module includes the time spent processing the part of the picture data
  • the data sending module in order to ensure that when a frame of picture data sent by the photographing device is sent to the data sending module after being processed by the processing module, the data sending module is just ready to start sending the frame of picture data, then the The frame rate of the data sent by the data sending module and the frame rate of the data sent by the photographing device need to be an integer multiple, and the data is one frame of picture data photographed by the photographing device.
  • FIG. 5 is a flowchart of a second control method provided by an embodiment of this application, which may be executed by the data transmission device, and the method includes:
  • step S201 the data sending time of the data sending module is acquired.
  • step S202 the processing time delay required by each of the processing modules to process the data is acquired.
  • step S203 the sending time of the timing signal is determined according to the data sending time and the processing time delay, and the timing signal is sent at the sending time of the timing signal, so that the photographing device receives When the timing signal is used, the data is sent to the data transmission device.
  • the data transmission device may delay the time according to the interval between the data sending time and the data sending time.
  • the first time is before the data sending time
  • the first time represents the latest sending time of the timing signal
  • the delay time is the sum of the processing delays of all processing modules . That is, the data transmission device may send the timing signal before the first time, and send the timing signal at the first time at the latest, where the specific time before the first time may be sent according to The actual situation is specifically set, and the embodiment of this application does not impose any restriction on this.
  • the data transmission device includes 3 processing modules, and the processing time delay of each processing module for processing data is 0.1s, and the delay time is 0.3s, so
  • the data sending time for the data sending module to send one frame of picture data is the 10th second, then the time specified by the timing signal is 9.7s, or other times before the 9.7s, for example, the time specified by the timing signal Time can be set with a certain time margin according to each processing module. For example, a total time margin of 0.05 seconds can be set for each processing module. Then the processing delay of each processing module data plus the time margin, the delay time is 0.35 seconds, that is, the time specified by the timing signal is 9.65 seconds.
  • the data needs to wait a short time when it reaches the data sending module, it can still reduce the image transmission delay and ensure that when the processing module When the processing delay suddenly becomes longer, when the data arrives at the data sending module, the latest data transmission will not be missed.
  • the data transmission device determines that the transmission time of the timing signal is before the first time, and transmits the timing signal at the transmission time of the timing signal, so that when the photographing device receives the timing signal,
  • the data is directly sent to the data transmission device, where the data may be a frame of picture data taken by the photographing device.
  • the photographing device sends data based on the timing information, so that when a frame of image data sent by the photographing device is processed by the processing module and sent to the data sending module, the data sending module is just ready Start to send the frame of picture data, thereby helping to reduce the waiting time for the data sending module to send data, reduce the delay of picture transmission, realize pipeline processing with a fixed delay, and also help reduce the delay jitter of data transmission.
  • the control method can be applied to a wireless video transmission system, wherein, at the sending end, the shooting device transmits a frame of video data captured to the data transmission device, and the data transmission device compares one frame of video data to the data transmission device.
  • the frame video data is processed and transmitted to the receiving end.
  • the data transmission device will adopt sub-frame level processing, that is, one frame of video data is compressed and packaged in a time unit less than one frame, and then the data is passed through
  • the sending module (such as the wireless physical layer) performs transmission.
  • the process of generating, compressing, packaging, and transmitting one frame of video data is performed in parallel in a pipeline manner in a time unit less than one frame, so as to obtain a lower image transmission delay.
  • the processing module 11 includes an image processing module 111, a compression module 112, and an encoding and modulation module 113 connected in sequence, and the image processing module 111 is configured to process a frame of image data output by the photographing device;
  • the compression module 113 is configured to compress and pack the processed picture data of one frame into at least two parts, and transmit the part to the coding and modulation module 113 after the compression and packing of each part is completed; the coding and modulation module 113 It is used to encode and modulate a part of the compressed picture data.
  • the processing time delay of the image processing module 111 includes the time spent processing one frame of picture data
  • the processing time delay of the compression module 112 includes the time spent processing each part of the picture data using a specified compression algorithm. Maximum processing time.
  • the processing time delay of the coding and modulation module 113 includes the time spent in processing the part of the picture data.
  • the photographing device considering the limited storage capacity of the photographing device, if the photographing device collects data at a fixed frame rate, and the frequency of sending data is lower than the frequency of collecting data, the photographing device needs a certain amount of memory To store the data waiting to be sent, the camera may not be able to store all the data collected before the data is sent. Therefore, the camera in the embodiment of the present application can also collect the data according to the timing signal, and after collection The data can be sent immediately, which not only reduces the image transmission delay, but also reduces the memory occupied by the shooting device, thereby ensuring the validity of the collected data.
  • FIG. 6 is a flowchart of a third control method provided by an embodiment of this application.
  • the method can be applied to a photographing device, and the photographing device may be a camera or other equipment, and the method includes:
  • step S301 a timing signal sent by the data transmission device is received.
  • step S302 data is sent to the data transmission device under the control of the timing signal.
  • the photographing device may After receiving the timing signal sent by the data transmission device, send data to the data transmission device at the time specified by the timing signal, where the data may be a frame of picture data taken by the photographing device.
  • the photographing device considering the limited storage capacity of the photographing device, if the photographing device collects data at a fixed frame rate, and the frequency of sending data is lower than the frequency of collecting data, the photographing device needs a certain amount of The memory to store the data waiting to be sent may cause the shooting device to be unable to store all the data collected before the data is sent. Therefore, the shooting device in the embodiment of the present application may also perform the data according to the time specified by the timing signal The data can be sent immediately after the collection, which not only reduces the delay of image transmission, but also reduces the memory of the shooting device, thereby ensuring the validity of the collected data.
  • the photographing device may send the data to the data transmission device after receiving the timing signal sent by the data transmission device, where the data may be a frame of picture data photographed by the photographing device.
  • an embodiment of the present application provides a data transmission device 10 that includes a data sending module 12 and one or more processing modules 11.
  • the data sending module 12 is configured to: obtain the data sending time; obtain the processing time delay required by each of the processing modules 11 to process the data; based on the sending time and the processing time delay, generate the timing for sending to the photographing device Signal so that the photographing device transmits the data to the data transmission device 10 under the control of the timing signal.
  • the timing signal is specifically used to control the photographing device to send the data to the data transmission device 10 at the time specified by the timing signal.
  • the timing signal is also used to control the photographing device to collect the data according to the time specified by the timing signal.
  • the time specified by the timing signal is: before the data transmission time and a time delay from the data transmission time interval; the delay time is the sum of the processing delays of all the processing modules 11 .
  • the data sending module 12 is further configured to: determine the sending time of the timing signal according to the data sending time and the processing delay, and send the timing signal at the sending time of the timing signal .
  • the data sending module 12 is further configured to obtain a first time according to a time delay from the data sending time interval, the first time is before the data sending time, and the delay time is The sum of the processing delays of all the processing modules 11; it is determined that the sending time of the timing signal is before the first time.
  • the photographing device is configured to send the data to the data transmission device when the timing signal is received.
  • the processing module 11 includes an image processing module 111, a compression module 112 and an encoding and modulation module 113.
  • the compression module 112 is configured to: compress and pack the data sent by the photographing device or the previous processing module 11 into at least two parts, and transmit the part to the The next processing module 11 or the data sending module 12.
  • the processing time delay of the compression module 112 includes: the maximum processing time consumed when processing each part using a specified compression algorithm.
  • the data is a frame of picture data taken by the photographing device.
  • the frame rate of the data sent by the data sending module 111 is an integer multiple of the frame rate of the data sent by the camera.
  • the photographing device is a camera.
  • the data sending module 12 includes a timing unit and a sending unit.
  • the timing unit is used to: obtain the data sending time of the sending unit; obtain the processing time delay required by each of the processing modules 11 to process the data; based on the sending time and the processing time delay, generate and send to the photographing device The timing signal of, so that the photographing device transmits the data to the data transmission device 10 under the control of the timing signal.
  • FIG. 2 and FIG. 3 are only examples of the data transmission device 10, and do not constitute a limitation on the data transmission device 10. They may include more or less components than those shown in the figure, or combine certain components. , Or different components, for example, the data transmission device 10 may also include network access equipment, etc.; for the specific functions of the modules/units included in the data transmission device 10, please refer to the description in the above control method embodiment. I won't repeat it here.
  • the photographing device and the data transmission device can be applied to a wireless video/image transmission system.
  • the wireless video/image transmission system includes a sending end and a receiving end.
  • the data transmission device serves as a sending end, and the video or image data shot by the shooting device is processed by the data transmission device and then sent to the receiving end.
  • the embodiments of the present application can apply the wireless video/image transmission system to mobile platforms (such as unmanned vehicles, unmanned ships, drones, pan-tilts, etc.), display devices (such as smart glasses). , Display screen or display screen), etc., by setting the shooting device on a movable platform to shoot video data, the video data is transmitted to the control terminal through the data transmission device, and the control terminal controls the display device to display the Video data.
  • mobile platforms such as unmanned vehicles, unmanned ships, drones, pan-tilts, etc.
  • display devices such as smart glasses.
  • Display screen or display screen etc.
  • the shooting device sends data based on the timing information, so that when a frame of image data sent by the shooting device is processed by the processing module and sent to the data sending module, the data sending The module is just ready to start sending the frame of picture data, which helps to reduce the waiting time of the data sending module to send data, reduces the delay of image transmission, realizes pipeline processing with fixed delay, and also helps to reduce the delay jitter of data transmission. It is beneficial to reduce the delay of watching the video shot by the shooting device on the display device, and enhance the user experience.
  • the wireless video/image transmission system can be applied to a flight experience system composed of drones and display devices, such as smart glasses, where the camera and the data transmission
  • the device can be installed on the drone, and the receiving end in the wireless video/image transmission system can be installed on smart glasses.
  • the system can also include a remote control device, such as a remote control.
  • the remote control controls the flight of the drone.
  • the camera mounted on the drone takes pictures along the way in real time, and transmits the captured video data to the data transmission device for processing.
  • the video data is transmitted to the receiving end on the smart glasses for real-time display on the display screen on the smart glasses, so that the user can watch the real-time picture of the first angle of view through the smart glasses.
  • the embodiment of the present application uses the shooting device based on The timing information sends data so that when a frame of picture data sent by the photographing device is sent to the data sending module after being processed by the processing module, the data sending module is just ready to start sending the frame of picture data, which is beneficial Reduce the waiting time of the data sending module to send data, reduce the delay of image transmission, and realize the pipeline processing with fixed delay, which is also conducive to reducing the delay jitter of data transmission, which is conducive to reducing viewing on display devices (such as smart glasses) The delay to the video captured by the drone enhances the user experience.
  • the data transmission device may generate a timing signal to be sent to the photographing device based on the data transmission time of the data transmission module and the processing time delay required by each processing module to process the data, so that the photographing
  • the device sends the data to the data transmission device under the control of the timing signal, so that when the data sent by the photographing device is sent to the data sending module after being processed by the processing module, the data sending module is just ready Start sending the data, thereby helping to reduce the waiting time for the data sending module to send data, thereby reducing the image transmission delay, realizing fixed-delay pipeline processing, and also conducive to reducing the delay jitter of data transmission and ensuring the
  • the video data shot by the shooting device is transmitted to the smart glasses as soon as possible after being heard by the data transmission device.
  • an embodiment of the present application provides a photographing device 20, including:
  • the lens assembly 22 is arranged inside the housing 21.
  • the sensor assembly 23 is arranged inside the housing 21 for sensing light passing through the lens assembly 22 and generating data.
  • the processor 24 is arranged inside the housing 21, and is used to receive a timing signal sent by the data transmission device 10, and send the data to the data transmission device 10 under the control of the timing signal.
  • the processor 24 may be a central processing unit (Central Processing Unit, CPU), other general-purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (ASIC), Ready-made programmable gate array (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, etc.
  • the general-purpose processor 24 may be a microprocessor or the processor 24 may also be any conventional processor or the like.
  • the processor 24 is specifically configured to send the data to the data transmission device at a time specified by the timing signal.
  • the processor 24 is further configured to: control the sensor component to collect the data according to the time specified by the timing signal.
  • the processor 24 is specifically configured to: upon receiving the timing signal, send the data to the data transmission apparatus.
  • the data is a frame of picture data taken by the photographing device.
  • the photographing device 20 is a camera.
  • FIG. 7 is only an example of the photographing device 20, and does not constitute a limitation on the photographing device 20. It may include more or fewer components than those shown in the figure, or a combination of certain components, or different components.
  • the photographing device 20 may also include a network access device and the like.
  • an embodiment of the present application provides a control system 30, including the aforementioned data transmission device 10 and the aforementioned photographing device 20, wherein the data transmission device 10 includes a data transmission module 12 and one or more processing Module 11, the data transmission device 10 generates a timing signal sent to the photographing device 20 according to the data transmission time of the data transmission module 12 and the processing delay required by each processing module 11 to process the data, so that the The photographing device 20 transmits the data to the data transmission device 10 under the control of the timing signal.
  • the data may be a frame of image data captured by the photographing device 20, so that when the frame of image data sent by the photographing device 20 is processed by the processing module and sent to the data sending module 12, the data
  • the sending module 12 is just ready to start sending the frame of picture data, which helps reduce the waiting time for the data sending module 12 to send data, realizes pipeline processing with a fixed delay, and also helps reduce the delay jitter of data transmission.
  • pan-tilt 40 including:
  • a processor 43 configured to control the rotation of the pan-tilt shaft 41 according to the angle information
  • FIG. 9 is only an example of the pan/tilt head 40 and does not constitute a limitation on the pan/tilt head 40. It may include more or less components than shown in the figure, or a combination of some parts, or different parts.
  • the pan/tilt 40 may also include input/output devices, network access devices, etc.
  • the pan/tilt 40 may include a two-axis pan/tilt or a three-axis pan/tilt; it is understandable that the camera in the control system 30
  • the device 20 may be fixedly installed on the pan/tilt 40, or may be detachably mounted on the pan/tilt 40, and the embodiment of the present application does not impose any limitation on this.
  • the processor 43 controls the rotation of the pan/tilt axis 41 according to the control instruction.
  • the camera in the control system 30 20 Take pictures along the way, and transmit the captured video data to the data transmission device 10 for processing.
  • the data transmission device 10 transmits the video data to the receiving end for real-time display on the display screen of the receiving end, Therefore, the audience can watch the real-time picture from the first perspective through the display screen; it is understandable that this application does not impose any restrictions on the specific form of the receiving end, and can make specific selections according to the actual situation.
  • the receiving end may be mobile. Terminals, such as mobile phones, tablets, or smart computers, can also be smart glasses, or other devices with display screens.
  • the data transmission device 10 may generate a timing signal sent to the photographing device 20 based on the above-mentioned control method, so that the photographing device 20 sends the data transmission device 10 to the data transmission device 10 under the control of the timing signal.
  • Data based on the above control method, can effectively reduce the image transmission delay, realize fixed-delay pipeline processing, and also help reduce the delay jitter of data transmission, and ensure that the video data captured by the shooting device 20 passes through the data transmission device. 10 Transmit to the receiving end for display as soon as possible, so that the audience can watch in real time and meet real-time requirements.
  • an embodiment of the present application provides a movable platform 50, including:
  • the power system 52 is installed on the fuselage 51 to provide power for the movable platform 50.
  • the movable platform 50 may be an unmanned aerial vehicle, an unmanned ship, an unmanned vehicle, a sweeping robot, or the like.
  • FIG. 10 is only an example of the movable platform 50, and does not constitute a limitation on the movable platform 50. It may include more or less components than shown in the figure, or combine certain components, or different components.
  • the movable platform 50 may also include input and output equipment, network access equipment, etc.; it is understandable that the photographing device 20 in the control system 30 may be fixedly installed on the movable platform 50, It can also be installed on the movable platform 50 in a detachable manner, and the embodiment of the present application does not impose any limitation on this.
  • the movable platform 50 moves under the control of the user.
  • the user can control the movable platform 50 through a remote control.
  • the The shooting device 20 in the control system 30 shoots pictures along the way, and transmits the captured video data to the data transmission device 10 for processing.
  • the data transmission device 10 transmits the video data to the receiving end after processing, for the purpose of receiving It is displayed in real time on the display screen of the terminal, so that the audience can watch the real-time picture of the first perspective through the display screen; it is understandable that this application does not impose any restrictions on the specific form of the receiving terminal, and specific choices can be made according to actual conditions, for example
  • the receiving end may be a mobile terminal such as a mobile phone, a tablet, or a smart computer, or smart glasses, or other devices with a display screen.
  • the data transmission device 10 may generate a timing signal sent to the photographing device 20 based on the above-mentioned control method, so that the photographing device 20 sends the data transmission device 10 to the data transmission device 10 under the control of the timing signal.
  • Data based on the above control method, can effectively reduce the image transmission delay, realize fixed-delay pipeline processing, and also help reduce the delay jitter of data transmission, and ensure that the video data captured by the shooting device 20 passes through the data transmission device. 10 Transmit to the receiving end for display as soon as possible, so that the audience can watch in real time and meet real-time requirements.
  • non-transitory computer-readable storage medium including instructions, such as a memory including instructions, for storing a computer program, the computer program including instructions for executing the above method.
  • the non-transitory computer-readable storage medium may be ROM, random access memory (RAM), CD-ROM, magnetic tape, floppy disk, optical data storage device, etc.
  • the device when the instruction in the storage medium is executed by the data transmission device 10 or the photographing device 20, the device can execute the aforementioned control method.

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Abstract

一种控制方法、数据传输装置、拍摄装置、控制系统、云台、可移动平台以及计算机可读存储介质，所述方法包括：获取所述数据发送模块的数据发送时间（S101）；获取各个所述处理模块处理数据所需的处理时延（S102）；基于所述数据发送时间以及所述处理时延，生成发送至拍摄装置的定时信号，以使所述拍摄装置在所述定时信号的控制下向所述数据传输装置发送所述数据（S103）。所述方法有利于减小数据传输的延迟。

Description

控制方法、数据传输装置、拍摄装置、控制系统、云台、可移动平台以及计算机可读存储介质 技术领域
本申请涉及图像处理领域，尤其涉及一种控制方法、数据传输装置、拍摄装置、控制系统、云台、可移动平台以及计算机可读存储介质。
背景技术
在视频/图像传输系统中，拍摄设备将采集的视频/图像数据发送至图传发送端，图传发送端对数据进行处理后发送给图传接收端，图传接收端再对数据进行处理，如显示等操作，在此过程中会产生图传延迟，而在图传过程中延迟越大，越影响用户体验，因此，降低图传延迟成为急需解决的技术难题。
发明内容
有鉴于此，本发明的目的之一是提供一种控制方法、数据传输装置、拍摄装置、控制系统、云台、可移动平台以及计算机可读存储介质。
首先，本申请实施例的第一方面提供了一种控制方法，应用于数据传输装置，所述数据传输装置包括数据发送模块以及一个或多个处理模块，所述方法包括：
获取所述数据发送模块的数据发送时间；
获取各个所述处理模块处理数据所需的处理时延；
基于所述数据发送时间以及所述处理时延，生成发送至拍摄装置的定时信号，以使所述拍摄装置在所述定时信号的控制下向所述数据传输装置发送所述数据。
本申请实施例的第二方面提供了一种控制方法，应用于拍摄装置，所述方法包括：
接收数据传输装置发送的定时信号；
在所述定时信号的控制下向所述数据传输装置发送数据。
本申请实施例的第三方面提供了一种数据传输装置，包括数据发送模块以及一个或多个处理模块；
所述数据发送模块被配置为：获取数据发送时间；获取各个所述处理模块处理数据所需的处理时延；基于所述发送时间以及所述处理时延，生成发送至拍摄装置的定时信号，以使所述拍摄装置在所述定时信号的控制下向所述数据传输装置发送所述数据。
本申请实施例的第四方面提供了一种拍摄装置，包括：
外壳；
镜头组件，设于所述外壳内部；
传感器组件，设于所述外壳内部，用于感知通过所述镜头组件的光并生成数据；
处理器，设于所述外壳内部，用于接收数据传输装置发送的定时信号，在所述定时信号的控制下向所述数据传输装置发送所述数据。
本申请实施例的第五方面提供了一种控制系统，其特征在于，包括如第三方面所述的数据传输装置以及第四方面所述的拍摄装置。
本申请实施例的第六方面提供了一种云台，包括：
云台轴；
用于采集云台轴角度信息的角度传感器；
用于根据所述角度信息控制所述云台轴转动的处理器；以及
如第五方面所述的控制系统。
本申请实施例的第七方面提供了一种可移动平台，包括：
机身；
动力系统，安装于所述机身，用于提供动力；
以及如第五方面所述的控制系统。
本申请实施例的第八方面提供了一种计算机可读存储介质，其特征在于，用于存储计算机程序，所述计算机程序包括用于执行第一方面以及第二方面所述的方法的指令。
本申请实施例通过获取所述数据发送模块的数据发送时间以及获取各个所述处理模块处理数据所需的处理时延，然后基于所述数据发送时间以及所述处理时延，生成发送至拍摄装置的定时信号，以使所述拍摄装置在所述定时信号的控制下向所述数据传输装置发送所述数据，使得所述拍摄装置发送的数据在经过处理模块处理之后发送至所述数据发送模块时，所述数据发送模块恰好准备开始发送所述数据，从而有利于减少所述数据发送模块发送数据的等待时间，从而降低了图传延迟，实现固定延迟的流水式处理，也有利于减小数据传输的延迟抖动。
附图说明
为了更清楚地说明本申请实施例中的技术方案，下面将对实施例描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1是本申请根据一示例性实施例示出的一种控制方法的流程图。
图2是本申请根据一示例性实施例示出的一种数据传输装置的结构图。
图3是本申请根据一示例性实施例示出的另一种数据传输装置的结构图。
图4是本申请根据一示例性实施例示出的所述拍摄装置发送的一帧图片数据的处理流程的示意图。
图5是本申请根据一示例性实施例示出的第二种控制方法的流程图。
图6是本申请根据一示例性实施例示出的第三种控制方法的流程图。
图7是本申请根据一示例性实施例示出的一种拍摄装置的结构图。
图8是本申请根据一示例性实施例示出的一种控制系统的结构图。
图9是本申请根据一示例性实施例示出的一种云台的结构图。
图10是本申请根据一示例性实施例示出的一种可移动平台的结构图。
具体实施方式
下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
在无线视频/图像传输系统中，为了取得端对端(即发送端与接收端之间)的低延时，将数据传输的每个步骤安排为流水线式的处理流程，即当前步骤处理完成的时间恰好是下一步骤开始处理的时间。但这需要每个步骤的时序能够相互配合，然而在传输过程中，仍然存在部分步骤的时序无法匹配的情况，例如在发送端，拍摄装置产生每一帧图片数据的时间与数据传输装置发送每一帧图片数据的时间可能是异步的，比如在数据传输装置当前可以向对端发送图片数据时，却还没有接收到拍摄装置发送的图片数据，导致所述数据传输装置需要等待拍摄装置发送图片数据，产生传 输延迟，同时无法做到固定延迟的流水式的处理，由于数据传输装置等待拍摄装置发送的图片数据的时间是不固定的，导致每次图像数据或视频数据发送的延迟是不固定的，造成图像数据或视频数据接收延迟的抖动，影响用户的观看体验。
基于上述问题，本申请实施例提供了一种控制方法，请参阅图1，为本申请实施例所提供的控制方法的流程图。所述控制方法可应用于数据传输装置10，所述数据传输装置10用于向对端传输图像或视频数据，请参阅图2，为本申请实施例提供的一种数据传输装置10的结构图，所述数据传输装置10包括数据发送模块12以及一个或多个处理模块11，所述处理模块11用于根据自身所具备的功能处理拍摄装置拍摄的数据，所述数据发送模块12用于发送所述拍摄装置拍摄的数据，所述拍摄装置可以为摄像头等设备，图2中以所述数据传输装置10包括2个处理模块11为例进行说明，但本申请实施例对所述处理模块11的数量不做限制，可以是3个、4个、5个等。
图1所述的实施例中，所述方法包括：
在步骤S101中，获取所述数据发送模块的数据发送时间。
在步骤S102中，获取各个所述处理模块处理数据所需的处理时延。
在步骤S103中，基于所述数据发送时间以及所述处理时延，生成发送至拍摄装置的定时信号，以使所述拍摄装置在所述定时信号的控制下向所述数据传输装置发送所述数据。
在一实施例中，各个所述处理模块处理数据所需的处理时延可以预先被记录在所述数据传输装置中，其中，所述数据可以是所述拍摄装置在拍摄图片或视频时所采集的数据，例如拍摄视频时的一帧视频帧，即(一帧图片数据)；所述数据传输装置在获取所述数据发送模块的数据发送时间之后，可以基于所述数据发送时间以及所述处理时延，生成发送至拍摄装置的定时信号，以使所述拍摄装置在所述定时信号的控制下向所述数据 传输装置发送所述数据。
本实施例中，根据所述数据发送模块的数据发送时间以及已知的处理模块的处理时延控制拍摄装置发送数据的时间，使得所述拍摄装置发送的一帧图片数据在经过处理模块处理之后发送至所述数据发送模块时，所述数据发送模块恰好准备开始发送该帧图片数据，从而有利于减少所述数据发送模块发送数据的等待时间，减少图传延迟，实现固定延迟的流水式处理，也有利于减小数据传输的延迟抖动。
在一实施例中，可以根据所述数据发送模块发送每一帧图片数据的数据发送时间以及各个所述处理模块的处理时延，确定所述定时信号所指定的时间，使得所述数据发送模块在将所述定时信号发送至所述拍摄装置时，所述拍摄装置能够在所述定时信号所指定的时间向所述数据传输装置发送所述数据，所述数据可以是所述拍摄装置拍摄的一帧图片数据。
在另一实施例中，考虑到所述拍摄装置的存储容量有限的问题，若所述拍摄装置按照固定的帧率采集数据，发送数据的频率低于采集数据的频率，则拍摄设备需要一定的内存来储存等待发送的数据，可能导致所述拍摄装置无法存储数据发送之前采集的所有数据，因此，本申请实施例中所述拍摄装置还可以根据所述定时信号所指定的时间进行所述数据的采集，采集后即可立即发送该数据，不仅减少图传延迟，且可以减少占用拍摄设备的内存，从而保证采集的数据的有效性。
在一种实现方式中，所述定时信号所指定的时间可以为：在所述数据发送时间之前，且与所述数据发送时间间隔延迟时长的时间；所述延迟时长为所有处理模块的处理时延之和；作为例子，比如所述数据传输装置包括3个处理模块，各个处理模块处理数据的处理时延为0.1s，则延迟时长为0.3s，所述数据发送模块发送一帧图片数据的数据发送时间是第10s，则所述定时信号所指定的时间为第9.7s，也可以第9.7s之前的其他时间，例如，所述定时信号所指定的时间可以根据各个处理模块设置一定的时间余量，例如可以为各个处理模块共设置0.05秒的时间余量，则各个处理模 块数据的处理时延加上所述时间余量，则延时时长为0.35秒，即所述定时信号所指定的时间为9.65秒，这样虽然所述数据到达所述数据发送模块时需要等待一小段时间，但是依旧能够减少图传延迟，且可以保证当所述处理模块的处理延迟突然变长时，所述数据到达数据发送模块时，不会错过最近一次数据发送。
可以理解的是，本申请实施例对于所述处理模块的具体功能或类型不做任何限制，可依据实际情况进行具体设置，在一种实现方式中，请参阅图3，为本申请实施例提供的另一种数据传输装置10的结构图，所述处理模块11包括图像处理模块111、压缩模块112以及编码调制模块113，其中，所述图像处理模块111、压缩模块112以及编码调制模块113可依次连接也可非依次连接，在此对其硬件连接方式不做限制，图3中以所述图像处理模块111、压缩模块112以及编码调制模块113依次连接进行举例说明，所述图像处理模块111用于对所述拍摄装置输出的一帧图片数据进行处理，所述压缩模块112用于对处理后的一帧图片数据进行压缩，所述编码调制模块113用于将压缩后的一帧图片数据进行编码以及调制处理。
在本申请实施例中，所述控制方法可以应用于无线视频传输系统中，其中，在发送端，所述拍摄装置将拍摄的一帧视频数据传输给数据传输装置，由所述数据传输装置对一帧视频数据进行处理后传输给接收端，为降低图传的延迟，所述数据传输装置会采用亚帧级别的处理，即将一帧视频数据按小于一帧的时间单位进行压缩打包，然后通过数据发送模块(比如无线物理层)进行传输。一帧视频数据的产生、压缩打包以及传输的过程，以小于一帧的时间单位，按流水的方式并行进行，以获得较低的图传延迟。基于此，所述压缩模块可以将所述拍摄装置或者上一处理模块发送的所述数据压缩打包成至少两个部分，并在完成每一部分的压缩打包之后将该部分传输给下一处理模块或所述数据发送模块，以 便所述压缩模块在继续下一部分的压缩打包时，下一处理模块或所述数据发送模块可以先处理或者传输接收到的该部分，使得模块之间的处理流程可以并行进行，从而提高数据传输效率，降低数据传输延迟。
其中，所述数据可以是所述拍摄装置拍摄的一帧图片数据，在一个例子中，请参阅图3以及图4，图4为所述拍摄装置发送的一帧图片数据的处理流程，所述拍摄装置将一帧图片数据发送给所述图像处理模块111，所述图像处理模块111对其进行处理之后发送给所述压缩模块112，所述压缩模块112接收所述图像处理模块111处理后的一帧图片数据，将其压缩打包成至少两个部分(图4中以一帧图片数据分成3部分为例进行说明)，并在完成每一部分的图片数据的压缩打包之后直接将该部分的图片数据传输给所述编码调制模块113，使得所述压缩模块112在继续下一部分的图片数据的压缩打包时，所述编码调制模块113可以先处理接收到的该部分的图片数据，无需等待压缩模块112将一帧图片数据压缩完，所述编码调制模块113在完成该部分的图片数据的编码调制之后，可以直接将其传输给所述数据发送模块12，并且可以继续处理所述压缩模块112传输的下一部分的图片数据，所述数据发送模块12可以先发送所述编码调制模块113传输的该部分的图片数据，无需等待所述编码调制模块113将一帧的图片数据处理完，即各个模块之间的处理流程可以并行进行，从而有效提高数据传输效率，降低数据传输延迟，需要说明的是，本发明不对所述压缩模块将所述数据压缩打包成几个部分进行限制，可以是4、5、6、7、8、9、10、11、12、13、14、15、或16等。
在一实施例中，若各个模块之间的处理流程可以按照上述方式并行进行，则所述图像处理模块的处理时延包括处理一帧图片数据所需耗费的时长，所述压缩模块的处理时延包括利用指定压缩算法处理所述每一部分的图片数据时所耗费的最大处理时长，所述编码调制模块的处理时延包括处理所述一部分的图片数据时所需耗费的时长；可以理解的是，本申请实 施例对于所述压缩算法的选择不做任何限制，可依据实际应用场景进行具体选择。
在一实施例中，为了保证所述拍摄装置发送的一帧图片数据在经过处理模块处理之后发送至所述数据发送模块时，所述数据发送模块恰好准备开始发送该帧图片数据，则所述数据发送模块发送数据的帧率与所述拍摄装置发送数据的帧率需成整数倍，所述数据为所述拍摄装置拍摄的一帧图片数据。
请参阅图5，为本申请实施例提供的第二种控制方法的流程图，其可由所述数据传输装置来执行，所述方法包括：
在步骤S201中，获取所述数据发送模块的数据发送时间。
在步骤S202中，获取各个所述处理模块处理数据所需的处理时延。
在步骤S203中，根据所述数据发送时间以及所述处理时延，确定所述定时信号的发送时间，在所述定时信号的发送时间发送所述定时信号，以使所述拍摄装置在接收到所述定时信号时，向所述数据传输装置发送所述数据。
在一种实现方式中，在获取所述数据发送模块的数据发送时间以及各个所述处理模块处理数据所需的处理时延之后，所述数据传输装置可以根据与所述数据发送时间间隔延迟时长的时间获取第一时间，所述第一时间在所述数据发送时间之前，所述第一时间表示所述定时信号的最迟发送时间，所述延迟时长为所有处理模块的处理时延之和，即所述数据传输装置可以在第一时间之前发送所述定时信号，最迟在所述第一时间发送所述定时信号，其中，在所述第一时间之前的具体哪个时间发送，可依据实际情况进行具体设置，本申请实施例对此不做任何限制，例如所述数据传输装置包括3个处理模块，各个处理模块处理数据的处理时延为0.1s，则延迟时长为0.3s，所述数据发送模块发送一帧图片数据的数据发送时间是第10s，则所述定时信号所指定的时间为第9.7s，也可以第9.7s之前的其他时 间，例如，所述定时信号所指定的时间可以根据各个处理模块设置一定的时间余量，例如可以为各个处理模块共设置0.05秒的时间余量，则各个处理模块数据的处理时延加上所述时间余量，则延时时长为0.35秒，即所述定时信号所指定的时间为9.65秒，这样虽然所述数据到达所述数据发送模块时需要等待一小段时间，但是依旧能够减少图传延迟，且可以保证当所述处理模块的处理延迟突然变长时，所述数据到达数据发送模块时，不会错过最近一次数据发送。
所述数据传输装置确定所述定时信号的发送时间在所述第一时间之前，在所述定时信号的发送时间发送所述定时信号，以使所述拍摄装置在接收到所述定时信号时，直接向所述数据传输装置发送所述数据，其中，所述数据可以为所述拍摄装置拍摄的一帧图片数据。本申请实施例中所述拍摄装置基于所述定时信息发送数据，使得所述拍摄装置发送的一帧图片数据在经过处理模块处理之后发送至所述数据发送模块时，所述数据发送模块恰好准备开始发送该帧图片数据，从而有利于减少所述数据发送模块发送数据的等待时间，减少图传延迟，实现固定延迟的流水式处理，也有利于减小数据传输的延迟抖动。
在一实施例中，所述控制方法可以应用于无线视频传输系统中，其中，在发送端，所述拍摄装置将拍摄的一帧视频数据传输给数据传输装置，由所述数据传输装置对一帧视频数据进行处理后传输给接收端，为降低图传的延迟，所述数据传输装置会采用亚帧级别的处理，即将一帧视频数据按小于一帧的时间单位进行压缩打包，然后通过数据发送模块(比如无线物理层)进行传输。一帧视频数据的产生、压缩打包以及传输的过程，以小于一帧的时间单位，按流水的方式并行进行，以获得较低的图传延迟。请参阅图3，所述处理模块11包括依次连接的图像处理模块111、压缩模块112以及编码调制模块113，所述图像处理模块111用于对所述拍摄装置输出的一帧图片数据进行处理；所述压缩模块113用于将处理后的一帧 图片数据压缩打包成至少两个部分，并在完成每一部分的压缩打包之后将该部分传输给所述编码调制模块113；所述编码调制模块113用于将压缩后的一部分的图片数据进行编码以及调制处理。
其中，所述图像处理模块111的处理时延包括处理一帧图片数据所需耗费的时长，所述压缩模块112的处理时延包括利用指定压缩算法处理所述每一部分的图片数据时所耗费的最大处理时长，所述编码调制模块113的处理时延包括处理所述一部分的图片数据时所需耗费的时长。
在一实施例中，考虑到所述拍摄装置的存储容量有限的问题，若所述拍摄装置按照固定的帧率采集数据，发送数据的频率低于采集数据的频率，则拍摄设备需要一定的内存来储存等待发送的数据，可能导致所述拍摄装置无法存储数据发送之前采集的所有数据，因此，本申请实施例中所述拍摄装置还可以根据所述定时信号进行所述数据的采集，采集后即可立即发送该数据，不仅减少图传延迟，且可以减少占用拍摄设备的内存，从而保证采集的数据的有效性。
请参阅图6，为本申请实施例提供的第三种控制方法的流程图，所述方法可应用于拍摄装置上，所述拍摄装置可以为摄像头等设备，所述方法包括：
在步骤S301中，接收数据传输装置发送的定时信号。
在步骤S302中，在所述定时信号的控制下向所述数据传输装置发送数据。
在一实施例中，若所述数据传输装置根据所述数据发送模块的数据发送时间以及各个所述处理模块的处理时延，确定了所述定时信号所指定的时间，则所述拍摄装置可以在接收数据传输装置发送的定时信号之后，在所述定时信号所指定的时间向所述数据传输装置发送数据，其中，所述数据可以为所述拍摄装置拍摄的一帧图片数据。
在另一实施例中，考虑到所述拍摄装置的存储容量有限的问题，若 所述拍摄装置按照固定的帧率采集数据，发送数据的频率低于采集数据的频率，则拍摄设备需要一定的内存来储存等待发送的数据，可能导致所述拍摄装置无法存储数据发送之前采集的所有数据，因此，本申请实施例中所述拍摄装置还可以根据所述定时信号所指定的时间进行所述数据的采集，采集后即可立即发送该数据，不仅减少图传延迟，且可以减少占用拍摄设备的内存，从而保证采集的数据的有效性。
在一实施例中，若所述数据传输装置根据所述数据发送时间以及所述处理时延，确定所述定时信号的发送时间，在所述定时信号的发送时间发送所述定时信号，则所述拍摄装置可以在接收数据传输装置发送的定时信号之后，向所述数据传输装置发送所述数据，其中，所述数据可以为所述拍摄装置拍摄的一帧图片数据。
请参阅图2，本申请实施例提供了一种数据传输装置10，包括数据发送模块12以及一个或多个处理模块11。
所述数据发送模块12被配置为：获取数据发送时间；获取各个所述处理模块11处理数据所需的处理时延；基于所述发送时间以及所述处理时延，生成发送至拍摄装置的定时信号，以使所述拍摄装置在所述定时信号的控制下向所述数据传输装置10发送所述数据。
可选地，所述定时信号具体用于：控制所述拍摄装置在所述定时信号所指定的时间向所述数据传输装置10发送所述数据。
可选地，所述定时信号还用于：控制所述拍摄装置根据所述定时信号所指定的时间进行所述数据的采集。
可选地，所述定时信号所指定的时间为：在所述数据发送时间之前，且与所述数据发送时间间隔延迟时长的时间；所述延迟时长为所有处理模块11的处理时延之和。
可选地，所述数据发送模块12还被配置为：根据所述数据发送时间以及所述处理时延，确定所述定时信号的发送时间，在所述定时信号的发 送时间发送所述定时信号。
可选地，所述数据发送模块12还被配置为：根据与所述数据发送时间间隔延迟时长的时间获取第一时间，所述第一时间在所述数据发送时间之前，所述延迟时长为所有处理模块11的处理时延之和；确定所述定时信号的发送时间在所述第一时间之前。
可选地，所述拍摄装置用于：在接收到所述定时信号时，向所述数据传输装置发送所述数据。
请参阅图3，所述处理模块11包括图像处理模块111、压缩模块112以及编码调制模块113。
可选地，所述压缩模块112用于：将所述拍摄装置或者上一处理模块11发送的所述数据压缩打包成至少两个部分，并在完成每一部分的压缩打包之后将该部分传输给下一处理模块11或所述数据发送模块12。
可选地，所述压缩模块112的处理时延包括：利用指定压缩算法处理所述每一部分时所耗费的最大处理时长。
可选地，所述数据为所述拍摄装置拍摄的一帧图片数据。
可选地，所述数据发送模块111发送数据的帧率与所述拍摄装置发送数据的帧率成整数倍。
可选地，所述拍摄装置为摄像头。
可选地，所述数据发送模块12包括定时单元和发送单元。
所述定时单元用于：获取所述发送单元的数据发送时间；获取各个所述处理模块11处理数据所需的处理时延；基于所述发送时间以及所述处理时延，生成发送至拍摄装置的定时信号，以使所述拍摄装置在所述定时信号的控制下向所述数据传输装置10发送所述数据。
本领域技术人员可以理解，图2以及图3仅仅是数据传输装置10的示例，并不构成对数据传输装置10的限定，可以包括比图示更多或更少的部件，或者组合某些部件，或者不同的部件，例如数据传输装置10还可以包括网络接入设备等；其中，对于数据传输装置10的所包含的模块/单元 的具体功能，可参见上述控制方法实施例中的描述，此处不再赘述。
在本实施例中，所述拍摄装置、所述数据传输装置可应用于无线视频/图像传输系统中，所述无线视频/图像传输系统包括发送端和接收端，其中，所述拍摄装置以及所述数据传输装置作为发送端，所述拍摄装置拍摄的视频或图像数据，经所述数据传输装置处理之后发送给接收端。
可以理解的是，本申请实施例可以将所述无线视频/图像传输系统应用于由可移动平台(比如无人车、无人船、无人机、云台等)、显示装置(如智能眼镜、显示屏或显示幕)等组成的体验系统中，通过将拍摄装置设置在可移动平台上拍摄视频数据，将视频数据通过所述数据传输装置传输给控制端，控制端控制显示装置显示所述视频数据，本申请实施例通过所述拍摄装置基于所述定时信息发送数据，使得所述拍摄装置发送的一帧图片数据在经过处理模块处理之后发送至所述数据发送模块时，所述数据发送模块恰好准备开始发送该帧图片数据，从而有利于减少所述数据发送模块发送数据的等待时间，减少图传延迟，实现固定延迟的流水式处理，也有利于减小数据传输的延迟抖动，这样有利于减少在显示装置上观看到拍摄装置拍摄的视频的延迟，增强用户体验。
在一示例性的应用场景中，所述无线视频/图像传输系统可应用于由无人机、显示装置，如智能眼镜，组成的飞行体验系统中，其中，所述拍摄装置以及所述数据传输装置作为发送端，可安装于无人机上，所述无线视频/图像传输系统中的接收端可安装于智能眼镜上，可选地，该系统还可以包括遥控装置，如遥控器，使用者通过遥控器控制所述无人机飞行，安装在所述无人机上的所述拍摄装置实时拍摄沿途画面，并将拍摄的视频数据传输给所述数据传输装置处理，所述数据传输装置在处理后将视频数据传输给智能眼镜上的接收端，以便在智能眼镜上的显示屏上实时显示，从而使用者可以通过智能眼镜观看到第一视角的实时画面，本申请实施例通过所述拍摄装置基于所述定时信息发送数据，使得所述拍摄装置发送的一 帧图片数据在经过处理模块处理之后发送至所述数据发送模块时，所述数据发送模块恰好准备开始发送该帧图片数据，从而有利于减少所述数据发送模块发送数据的等待时间，减少图传延迟，实现固定延迟的流水式处理，也有利于减小数据传输的延迟抖动，这样有利于减少在显示装置(如智能眼镜)上观看到无人机拍摄的视频的延迟，增强用户体验。
在以上的实时拍摄实时显示的示例性场景中，对于画面实时性有很高的要求，要求所述拍摄装置拍摄的视频数据能够快速传输到所述智能眼镜上，以便使用者可以实时观看，因此，本申请实施中所述数据传输装置可以基于所述数据发送模块的数据发送时间以及各个所述处理模块处理数据所需的处理时延，生成发送至拍摄装置的定时信号，以使所述拍摄装置在所述定时信号的控制下向所述数据传输装置发送所述数据，使得所述拍摄装置发送的数据在经过处理模块处理之后发送至所述数据发送模块时，所述数据发送模块恰好准备开始发送所述数据，从而有利于减少所述数据发送模块发送数据的等待时间，从而降低了图传延迟，实现固定延迟的流水式处理，也有利于减小数据传输的延迟抖动，保证所述拍摄装置拍摄的视频数据听过所述数据传输装置尽快传输到所述智能眼镜上。
请参阅图7，本申请实施例提供了一种拍摄装置20，包括：
外壳21。
镜头组件22，设于所述外壳21内部。
传感器组件23，设于所述外壳21内部，用于感知通过所述镜头组件22的光并生成数据。
处理器24，设于所述外壳21内部，用于接收数据传输装置10发送的定时信号，在所述定时信号的控制下向所述数据传输装置10发送所述数据。
所述处理器24可以是中央处理单元(Central Processing Unit，CPU)，还可以是其他通用处理器、数字信号处理器(Digital Signal Processor，DSP)、专用集成电路(Application Specific Integrated Circuit，ASIC)、现成可编程 门阵列(Field-Programmable Gate Array，FPGA)或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件等。通用处理器24可以是微处理器或者该处理器24也可以是任何常规的处理器等。
可选地，所述处理器24具体用于：在所述定时信号所指定的时间向所述数据传输装置发送所述数据。
可选地，所述处理器24还用于：根据所述定时信号所指定的时间控制所述传感器组件进行所述数据的采集。
可选地，所述处理器24具体用于：在接收到所述定时信号时，向所述数据传输装置发送所述数据。
可选地，所述数据为所述拍摄装置拍摄的一帧图片数据。
可选地，所述拍摄装置20为摄像头。
本领域技术人员可以理解，图7仅仅是拍摄装置20的示例，并不构成对拍摄装置20的限定，可以包括比图示更多或更少的部件，或者组合某些部件，或者不同的部件，例如拍摄装置20还可以包括网络接入设备等。
请参阅图8，本申请实施例提供了一种控制系统30，包括上述的数据传输装置10以及上述的拍摄装置20，其中，所述数据传输装置10包括数据发送模块12以及一个或多个处理模块11，所述数据传输装置10根据所述数据发送模块12的数据发送时间以及各个所述处理模块11处理数据所需的处理时延，生成发送至拍摄装置20的定时信号，以使所述拍摄装置20在所述定时信号的控制下向所述数据传输装置10发送所述数据。
其中，所述数据可以是所述拍摄装置20拍摄的一帧图像数据，使得所述拍摄装置20发送的一帧图片数据在经过处理模块处理之后发送至所述数据发送模块12时，所述数据发送模块12恰好准备开始发送该帧图片数据，从而有利于减少所述数据发送模块12发送数据的等待时间，实现固定延迟的流水式处理，也有利于减小数据传输的延迟抖动。
所述系统的功能可参见上述数据传输装置10以及上述拍摄装置20的具体描述，此处不再赘述。
请参阅图9，本申请实施例提供了一种云台40，包括：
云台轴41。
用于采集云台轴41角度信息的角度传感器42。
用于根据所述角度信息控制所述云台轴41转动的处理器43；
以及上述的控制系统30。
本领域技术人员可以理解，图9仅仅是云台40的示例，并不构成对云台40的限定，可以包括比图示更多或更少的部件，或者组合某些部件，或者不同的部件，例如云台40还可以包括输入输出设备、网络接入设备等，所述云台40可以包括两轴云台或者三轴云台；可以理解的是，所述控制系统30中的所述拍摄装置20可以固定安装在所述云台40上，也可以以可拆卸的方式安装在所述云台40上，本申请实施例对此不做任何限制。
在一实施例中，所述处理器43在接收到控制指令之后，根据控制指令控制所述云台轴41转动，在所述云台轴41转动过程中，所述控制系统30中的拍摄装置20拍摄沿途画面，并将拍摄的视频数据传输给所述数据传输装置10处理，所述数据传输装置10在处理后将视频数据传输给接收端，以便在所述接收端的显示屏上实时显示，从而观众可以通过显示屏观看到第一视角的实时画面；可以理解的是，本申请对于所述接收端的具体形式不做任何限制，可依据实际情况进行具体选择，例如所述接收端可以是移动终端如手机、平板或者智能电脑等，也可以是智能眼镜，还可以是其他具有显示屏的设备。
本申请实施中所述数据传输装置10可以基于上述控制方法生成发送至拍摄装置20的定时信号，以使所述拍摄装置20在所述定时信号的控制下向所述数据传输装置10发送所述数据，基于上述的控制方法，可以有效降低图传延迟，实现固定延迟的流水式处理，也有利于减小数据传输的延迟抖动，保证所述拍摄装置20拍摄的视频数据经过所述数据传输装置10尽快传输到所述接收端上显示，以便观众的实时观看，满足实时性需求。
请参阅图10，本申请实施例提供了一种可移动平台50，包括：
机身51。
动力系统52，安装于所述机身51，用于为所述可移动平台50提供动力。
以及上述的控制系统30。
可选地，所述可移动平台50可以为无人机、无人船、无人车或者扫地机器人等。
本领域技术人员可以理解，图10仅仅是可移动平台50的示例，并不构成对可移动平台50的限定，可以包括比图示更多或更少的部件，或者组合某些部件，或者不同的部件，例如可移动平台50还可以包括输入输出设备、网络接入设备等；可以理解的是，所述控制系统30中的所述拍摄装置20可以固定安装在所述可移动平台50上，也可以以可拆卸的方式安装在所述可移动平台50上，本申请实施例对此不做任何限制。
在一实施例中，所述可移动平台50在用户的控制下运动，比如所述用户可以通过遥控器对所述可移动平台50进行控制，在所述可移动平台50运动过程中，所述控制系统30中的拍摄装置20拍摄沿途画面，并将拍摄的视频数据传输给所述数据传输装置10处理，所述数据传输装置10在处理后将视频数据传输给接收端，以便在所述接收端的显示屏上实时显示，从而观众可以通过显示屏观看到第一视角的实时画面；可以理解的是，本申请对于所述接收端的具体形式不做任何限制，可依据实际情况进行具体选择，例如所述接收端可以是移动终端如手机、平板或者智能电脑等，也可以是智能眼镜，还可以是其他具有显示屏的设备。
本申请实施中所述数据传输装置10可以基于上述控制方法生成发送至拍摄装置20的定时信号，以使所述拍摄装置20在所述定时信号的控制下向所述数据传输装置10发送所述数据，基于上述的控制方法，可以有效降低图传延迟，实现固定延迟的流水式处理，也有利于减小数据传输的延迟抖动，保证所述拍摄装置20拍摄的视频数据经过所述数据传输装置10尽快传输到所述接收端上显示，以便观众的实时观看，满足实时性需求。
在示例性实施例中，还提供了一种包括指令的非临时性计算机可读存储介质，例如包括指令的存储器，用于存储计算机程序，所述计算机程序包括用于执行上述方法的指令。例如，所述非临时性计算机可读存储介质可以是ROM、随机存取存储器(RAM)、CD-ROM、磁带、软盘和光数据存储设备等。
其中，当所述存储介质中的指令由所述数据传输装置10或者所述拍摄装置20执行时，使得装置能够执行前述控制方法。
需要说明的是，在本文中，诸如第一和第二等之类的关系术语仅仅用来将一个实体或者操作与另一个实体或操作区分开来，而不一定要求或者暗示这些实体或操作之间存在任何这种实际的关系或者顺序。术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者设备不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或者设备所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括所述要素的过程、方法、物品或者设备中还存在另外的相同要素。
以上对本发明实施例所提供的方法和装置进行了详细介绍，本文中应用了具体个例对本发明的原理及实施方式进行了阐述，以上实施例的说明只是用于帮助理解本发明的方法及其核心思想；同时，对于本领域的一般技术人员，依据本发明的思想，在具体实施方式及应用范围上均会有改变之处，综上所述，本说明书内容不应理解为对本发明的限制。

Claims (42)

  1. 一种控制方法，其特征在于，应用于数据传输装置，所述数据传输装置包括数据发送模块以及一个或多个处理模块，所述方法包括：
    获取所述数据发送模块的数据发送时间；
    获取各个所述处理模块处理数据所需的处理时延；
    基于所述数据发送时间以及所述处理时延，生成发送至拍摄装置的定时信号，以使所述拍摄装置在所述定时信号的控制下向所述数据传输装置发送所述数据。
  2. 根据权利要求1所述的方法，其特征在于，
    所述定时信号用于：控制所述拍摄装置在所述定时信号所指定的时间向所述数据传输装置发送所述数据。
  3. 根据权利要求2所述的方法，其特征在于，
    所述定时信号还用于：控制所述拍摄装置根据所述定时信号所指定的时间进行所述数据的采集。
  4. 根据权利要求2或3所述的方法，其特征在于，所述定时信号所指定的时间为：在所述数据发送时间之前，且与所述数据发送时间间隔延迟时长的时间；所述延迟时长为所有处理模块的处理时延之和。
  5. 根据权利要求1所述的方法，其特征在于，所述基于所述数据发送时间以及所述处理时延，生成发送至拍摄装置的定时信号，包括：
    根据所述数据发送时间以及所述处理时延，确定所述定时信号的发送时间，在所述定时信号的发送时间发送所述定时信号。
  6. 根据权利要求5所述的方法，其特征在于，所述根据所述数据发送时间以及所述处理时延，确定所述定时信号的发送时间，包括：
    根据与所述数据发送时间间隔延迟时长的时间获取第一时间，所述第一时间在所述数据发送时间之前，所述延迟时长为所有处理模块的处理时延之和；
    确定所述定时信号的发送时间在所述第一时间之前。
  7. 根据权利要求5所述的方法，其特征在于，所述拍摄装置在所述定时信号的控制下向所述数据传输装置发送所述数据，包括：
    所述拍摄装置在接收到所述定时信号时，向所述数据传输装置发送所述数据。
  8. 根据权利要求1所述的方法，其特征在于，所述处理模块包括：图像处理模块、压缩模块以及编码调制模块。
  9. 根据权利要求8所述的方法，其特征在于，
    所述压缩模块用于：将所述拍摄装置或者上一处理模块发送的所述数据压缩打包成至少两个部分，并在完成每一部分的压缩打包之后将该部分传输给下一处理模块或所述数据发送模块。
  10. 根据权利要求9所述的方法，其特征在于，所述压缩模块的处理时延包括：利用指定压缩算法处理所述每一部分时所耗费的最大处理时长。
  11. 根据权利要求1所述的方法，其特征在于，所述数据为所述拍摄装置拍摄的一帧图片数据。
  12. 根据权利要求1所述的方法，其特征在于，所述数据发送模块发送数据的帧率与所述拍摄装置发送数据的帧率成整数倍。
  13. 根据权利要求1所述的方法，其特征在于，所述拍摄装置为摄像头。
  14. 一种控制方法，其特征在于，应用于拍摄装置，所述方法包括：
    接收数据传输装置发送的定时信号；
    在所述定时信号的控制下向所述数据传输装置发送数据。
  15. 根据权利要求14所述的方法，其特征在于，所述在所述定时信号的控制下向所述数据传输装置发送数据，包括：
    在所述定时信号所指定的时间向所述数据传输装置发送数据。
  16. 根据权利要求15所述的方法，其特征在于，还包括：
    根据所述定时信号所指定的时间进行所述数据的采集。
  17. 根据权利要求14所述的方法，其特征在于，所述在所述定时信号 的控制下向所述数据传输装置发送数据，包括：
    在接收到所述定时信号时，向所述数据传输装置发送所述数据。
  18. 根据权利要求14所述的方法，其特征在于，所述数据为所述拍摄装置拍摄的一帧图片数据。
  19. 根据权利要求14至18任意一项所述的方法，其特征在于，所述拍摄装置为摄像头。
  20. 一种数据传输装置，其特征在于，包括数据发送模块以及一个或多个处理模块；
    所述数据发送模块被配置为：获取数据发送时间；获取各个所述处理模块处理数据所需的处理时延；基于所述发送时间以及所述处理时延，生成发送至拍摄装置的定时信号，以使所述拍摄装置在所述定时信号的控制下向所述数据传输装置发送所述数据。
  21. 根据权利要求20所述的装置，其特征在于，
    所述定时信号具体用于：控制所述拍摄装置在所述定时信号所指定的时间向所述数据传输装置发送所述数据。
  22. 根据权利要求21所述的装置，其特征在于，
    所述定时信号还用于：控制所述拍摄装置根据所述定时信号所指定的时间进行所述数据的采集。
  23. 根据权利要求21或22所述的装置，其特征在于，所述定时信号所指定的时间为：在所述数据发送时间之前，且与所述数据发送时间间隔延迟时长的时间；所述延迟时长为所有处理模块的处理时延之和。
  24. 根据权利要求20所述的装置，其特征在于，所述数据发送模块还被配置为：根据所述数据发送时间以及所述处理时延，确定所述定时信号的发送时间，在所述定时信号的发送时间发送所述定时信号。
  25. 根据权利要求24所述的装置，其特征在于，所述数据发送模块还被配置为：根据与所述数据发送时间间隔延迟时长的时间获取第一时间，所述第一时间在所述数据发送时间之前，所述延迟时长为所有处理模块的 处理时延之和；确定所述定时信号的发送时间在所述第一时间之前。
  26. 根据权利要求24所述的装置，其特征在于，所述拍摄装置用于：在接收到所述定时信号时，向所述数据传输装置发送所述数据。
  27. 根据权利要求20所述的装置，其特征在于，所述处理模块包括图像处理模块、压缩模块以及编码调制模块。
  28. 根据权利要求27所述的装置，其特征在于，所述压缩模块用于：将所述拍摄装置或者上一处理模块发送的所述数据压缩打包成至少两个部分，并在完成每一部分的压缩打包之后将该部分传输给下一处理模块或所述数据发送模块。
  29. 根据权利要求28所述的装置，其特征在于，所述压缩模块的处理时延包括：利用指定压缩算法处理所述每一部分时所耗费的最大处理时长。
  30. 根据权利要求20所述的装置，其特征在于，所述数据为所述拍摄装置拍摄的一帧图片数据。
  31. 根据权利要求20所述的装置，其特征在于，所述数据发送模块发送数据的帧率与所述拍摄装置发送数据的帧率成整数倍。
  32. 根据权利要求20所述的装置，其特征在于，所述拍摄装置为摄像头。
  33. 一种拍摄装置，其特征在于，包括：
    外壳；
    镜头组件，设于所述外壳内部；
    传感器组件，设于所述外壳内部，用于感知通过所述镜头组件的光并生成数据；
    处理器，设于所述外壳内部，用于接收数据传输装置发送的定时信号，在所述定时信号的控制下向所述数据传输装置发送所述数据。
  34. 根据权利要求33所述的装置，其特征在于，
    所述处理器具体用于：在所述定时信号所指定的时间向所述数据传输装置发送所述数据。
  35. 根据权利要求34所述的装置，其特征在于，
    所述处理器还用于：根据所述定时信号所指定的时间控制所述传感器组件进行所述数据的采集。
  36. 根据权利要求33所述的装置，其特征在于，
    所述处理器具体用于：在接收到所述定时信号时，向所述数据传输装置发送所述数据。
  37. 根据权利要求33所述的装置，其特征在于，所述数据为所述拍摄装置拍摄的一帧图片数据。
  38. 根据权利要求33至37任意一项所述的装置，其特征在于，所述拍摄装置为摄像头。
  39. 一种控制系统，其特征在于，包括如权利要求20至32任意一项所述的数据传输装置以及如权利要求33至38任意一项所述的拍摄装置。
  40. 一种云台，其特征在于，包括：
    云台轴；
    用于采集云台轴角度信息的角度传感器；
    用于根据所述角度信息控制所述云台轴转动的处理器；以及
    如权利要求39所述的控制系统。
  41. 一种可移动平台，其特征在于，包括：
    机身；
    动力系统，安装于所述机身，用于提供动力；
    以及如权利要求39所述的控制系统。
  42. 一种计算机可读存储介质，其特征在于，用于存储计算机程序，所述计算机程序包括用于执行如权利要求1至19中任一项所述的方法的指令。
PCT/CN2019/114840 2019-10-31 2019-10-31 控制方法、数据传输装置、拍摄装置、控制系统、云台、可移动平台以及计算机可读存储介质 WO2021081933A1 (zh)

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