WO2021121011A1

WO2021121011A1 - Image transfer control method and system, and unmanned aerial vehicle

Info

Publication number: WO2021121011A1
Application number: PCT/CN2020/132318
Authority: WO
Inventors: 李昭早
Original assignee: 深圳市道通智能航空技术股份有限公司
Priority date: 2019-12-17
Filing date: 2020-11-27
Publication date: 2021-06-24
Also published as: CN110933380A

Abstract

The present application relates to the technical field of aerial photography, and disclosed therein is an image transfer control method. The method comprises: first detecting the network bandwidth between an unmanned aerial vehicle and a ground receiving end as well as the amount of data to be transmitted that is buffered in a buffer space of the unmanned aerial vehicle; then, adjusting the encoding rate of said data according to the network bandwidth; and according to the amount of data, adjusting the means of encoding said data. When applied to an unmanned aerial vehicle, the image transfer control method provided in the present application can maintain the flow of image data when the unmanned aerial vehicle performs long-distance transmission.

Description

Image transmission control method, system and unmanned aerial vehicle

Technical field

The embodiment of the present invention relates to the technical field of aerial photography, and in particular to a video transmission control method, system and unmanned aerial vehicle.

Background technique

Unmanned Aerial Vehicle (UAV) is an aircraft that uses radio remote control equipment and free program control devices to control unmanned aircraft, or is completely or intermittently and autonomously operated by on-board computer. It is usually used in the field of aerial photography and can be used in aerial photography. Long-distance, large-scale scope, to realize the functions of detection, monitoring, observation, etc., so it is also known as: "Flying camera".

In the process of implementing the embodiments of the present invention, the inventor found that the above related technologies have at least the following problems: When the current UAVs are performing ultra-long-distance aerial photography work, due to the extremely low network bandwidth, they are transmitted to the ground terminal in real time. The image data usually suffers from freezing, blurring or even broken.

Summary of the invention

In view of the above-mentioned defects in the prior art, the purpose of the embodiments of the present invention is to provide an image transmission control method, system and unmanned aerial vehicle that can maintain smooth image data.

The purpose of the embodiments of the present invention is achieved through the following technical solutions:

In order to solve the above technical problems, in the first aspect, an embodiment of the present invention provides a video transmission control method, which is applied to an unmanned aerial vehicle, and the method includes:

Detecting the network bandwidth between the drone and the ground receiving end, and the amount of data to be transmitted buffered in the buffer space of the drone;

Adjusting the coding rate of the data to be transmitted according to the network bandwidth;

According to the data volume, the encoding mode of the data to be transmitted is adjusted.

In some embodiments, the step of detecting the network bandwidth between the drone and the ground receiving end further includes:

Acquiring the time required for a data interaction between the drone and the ground receiving end;

Calculate the network bandwidth according to the time and the data volume of the one data exchange.

In some embodiments, the step of adjusting the coding rate of the data to be transmitted according to the network bandwidth further includes:

Judging whether the network bandwidth between the UAV and the ground receiving end is in a rising state or a falling state;

If it is in a falling state, reduce the coding rate of the data to be transmitted according to the preset first adjustment strategy;

If it is in the rising state, the coding rate of the data to be transmitted is increased according to the preset second adjustment strategy.

In some embodiments, the step of reducing the coding rate of the data to be transmitted according to a preset first adjustment strategy further includes:

Acquiring the down gear corresponding to the network bandwidth;

According to the down gear, lower the gear of the coding rate of the data to be transmitted.

In some embodiments, the step of increasing the coding rate of the data to be transmitted according to a preset second adjustment strategy further includes:

It is detected whether the network bandwidth satisfies the file upgrade condition, where the file upgrade condition is that the number of times that the network bandwidth is continuously detected to be greater than or equal to the first preset bandwidth is M+N*M, and the M is a set value, Said N is the number of previous pre-shifts;

If it is satisfied, the coding rate of the data to be transmitted is increased by one level.

In some embodiments, the step of adjusting the encoding mode of the data to be transmitted according to the amount of data further includes:

Judging whether the data amount of the data to be transmitted lies in a preset first interval, a preset second interval, or a preset third interval;

If it is in the preset first interval, adjusting the encoding mode of the data to be transmitted to the normal encoding mode;

If it is in the preset second interval, the encoding mode of the data to be transmitted is adjusted to the interval frame skipping reference encoding mode, and the odd or even numbered frame of the difference frame of the image of the data to be transmitted in the buffer space is deleted Frame to obtain the adjusted image data;

If it is in the preset third interval, the encoding mode of the data to be transmitted is adjusted to the normal encoding mode, and the key frame of the image in the data to be transmitted is retained, and the difference frame associated with the key frame is deleted To get the adjusted image data.

In order to solve the above technical problems, in the second aspect, an embodiment of the present invention provides a video transmission control system, which is applied to an unmanned aerial vehicle, and the system includes:

The detection unit is used to detect the network bandwidth between the drone and the ground receiving end, and the amount of data to be transmitted buffered in the buffer space of the drone

The first adjustment unit is configured to adjust the coding rate of the data to be transmitted according to the network bandwidth;

The second adjustment unit is configured to adjust the encoding mode of the data to be transmitted according to the amount of data.

In some embodiments, the detection unit is also used to obtain the time required for a data interaction between the drone and the ground receiving end;

In some embodiments, the first adjustment unit is also used to determine whether the network bandwidth between the drone and the ground receiving end is in a rising state or a falling state;

In some embodiments, the first adjustment unit is further configured to obtain the down gear corresponding to the network bandwidth;

In some embodiments, the first adjustment unit is further configured to detect whether the network bandwidth satisfies the file upgrade condition, where the file upgrade condition is that the number of times that the network bandwidth is continuously detected to be greater than or equal to the first preset bandwidth is M+N*M times, the M is the set value, and the N is the number of pre-shifts;

In some embodiments, the second adjustment unit is further configured to determine whether the data amount of the data to be transmitted lies in a preset first interval, a preset second interval, or a preset third interval;

If it is in the preset third interval, adjust the encoding mode of the data to be transmitted to the normal encoding mode, retain the key frames of the image in the data to be transmitted, and delete the difference frames associated with the key frames To get the adjusted image data.

In order to solve the above technical problems, in a third aspect, an embodiment of the present invention provides a drone, including:

At least one processor; and,

A memory communicatively connected with the at least one processor; wherein,

The memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor, so that the at least one processor can execute the method described in the first aspect above.

In order to solve the above technical problems, in the fourth aspect, embodiments of the present invention also provide a computer-readable storage medium, the computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are used to make a computer execute The method described in the first aspect above.

In order to solve the above technical problems, in the fifth aspect, embodiments of the present invention also provide a computer program product. The computer program product includes a computer program stored on a computer-readable storage medium. The computer program includes program instructions. When the program instructions are executed by a computer, the computer executes the method described in the first aspect above.

Compared with the prior art, the beneficial effect of the present invention is that it is different from the prior art. The embodiment of the present invention provides a video transmission control method. The method first detects the difference between the drone and the ground receiving end. And the amount of data to be transmitted buffered in the buffer space of the drone, and then adjust the encoding rate of the data to be transmitted according to the network bandwidth, and according to the amount of data , Adjust the encoding mode of the data to be transmitted. When the image transmission control method provided by the embodiment of the present invention is applied to a drone, it can maintain the smoothness of image data when the drone performs long-distance transmission.

Description of the drawings

One or more embodiments are exemplified by the pictures in the corresponding drawings. These exemplified descriptions do not constitute a limitation on the embodiments. The components/modules and steps with the same reference numerals in the drawings represent For similar components/modules and steps, unless otherwise stated, the figures in the drawings do not constitute a scale limitation.

FIG. 1 is a schematic diagram of one of the application environments of the image transmission control method provided by an embodiment of the present invention;

2 is a flowchart of a method for controlling image transmission according to an embodiment of the present invention;

FIG. 3 is a sub-flow chart of step 110 in the method shown in FIG. 2;

FIG. 4 is a sub-flow chart of step 120 in the method shown in FIG. 2;

FIG. 5 is a sub-flow chart of step 122 in the method shown in FIG. 4;

FIG. 6 is a sub-flow chart of step 123 in the method shown in FIG. 4;

FIG. 7 is a sub-flow chart of step 130 in the method shown in FIG. 2;

8 is a schematic structural diagram of a video transmission control device provided by an embodiment of the present invention;

Fig. 9 is a schematic structural diagram of an unmanned aerial vehicle provided by an embodiment of the present invention.

Detailed ways

The present invention will be described in detail below in conjunction with specific embodiments. The following examples will help those skilled in the art to further understand the present invention, but do not limit the present invention in any form. It should be pointed out that for those of ordinary skill in the art, several modifications and improvements can be made without departing from the concept of the present invention. These all belong to the protection scope of the present invention.

In order to make the purpose, technical solutions, and advantages of this application clearer and clearer, the following further describes the application in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the application, and are not used to limit the application.

It should be noted that if there is no conflict, the various features in the embodiments of the present invention can be combined with each other, and all fall within the protection scope of the present application. In addition, although the functional modules are divided in the schematic diagram of the device, and the logical sequence is shown in the flowchart, in some cases, the module division in the device may be different from the module division in the device, or the sequence shown in the flowchart may be executed. Or the steps described. In addition, the words "first" and "second" used herein do not limit the data and execution order, but only distinguish the same items or similar items with basically the same function and effect.

Unless otherwise defined, all technical and scientific terms used in this specification have the same meaning as commonly understood by those skilled in the technical field of the present invention. The terms used in the specification of the present invention in this specification are only for the purpose of describing specific embodiments, and are not used to limit the present invention. The term "and/or" used in this specification includes any and all combinations of one or more related listed items.

In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

FIG. 1 is a schematic diagram of one of the application environments of the image transmission control method provided by an embodiment of the present invention, where the application environment includes: a drone 10 and a ground receiving terminal 20, and the drone 10 communicates with the ground receiving terminal 20 connection. The communication connection may be a wired or wireless connection. When the communication connection is a wireless connection, the drone 10 and the ground receiving end 20 may be connected through a communication protocol, and the communication protocol may be TCP/ Communication protocols such as IP, NETBEUI, and IPX/SPX, for example, establish wireless communication through Bluetooth, so as to realize data interaction between the drone 10 and the ground receiving terminal 20.

The UAV 10 (Unmanned Aerial Vehicle, UAV) may be any type of unmanned flying equipment, or a flying equipment that is completely or intermittently operated by an onboard computer. The drone 10 is equipped with a photographing device that can perform aerial photography. In order to obtain a better photographing effect, the drone 10 may also be provided with a pan/tilt for carrying the photographing equipment.

It should be noted that the video transmission control method provided by the embodiment of the present invention is generally executed by the above-mentioned UAV 10, and correspondingly, the video transmission control device is generally provided in the UAV 10. In addition, the number of the drones 10 may be one or more, and the number is not limited in this application.

The ground receiving end 20 may be any electronic device capable of communicating and data interaction with the drone 10, for example, a remote control device, a service desk, and the like. The ground receiving end 20 can control the drone 10 by sending control instructions, and receive data information such as images returned by the drone 10 through a communication module. The ground receiving end 20 can also be used for data, Transfer of information or instructions. For example, after the ground receiving terminal 20 receives the data or information sent by the drone 10 (such as the image information taken by the camera), it can send the data or information to the display device so as to display all the information on the display device. The image information taken by the drone 10 is rendered or displayed.

For image transmission such as ultra-long-distance video of drones, the embodiment of the present invention provides a method for controlling image transmission that can keep the image smooth without jamming or even breaking. Specifically, by acquiring the detection network bandwidth and buffer space The buffered data volume with transmission data, adjust the coding rate of the transmission data and its encoding method, reduce part of the image quality, so as to achieve stable and smooth transmission of image data.

Specifically, the embodiments of the present invention will be further described below in conjunction with the accompanying drawings.

The embodiment of the present invention provides a video transmission control method, which can be executed by the above-mentioned UAV 10. Please refer to FIG. 2, which shows a flowchart of a video transmission control method provided by an embodiment of the present invention. The method includes but is not limited to the following steps:

Step 110: Detect the network bandwidth between the drone and the ground receiving end, and the amount of data to be transmitted buffered in the buffer space of the drone.

In the embodiment of the present invention, first, on the one hand, it is necessary to detect the network bandwidth between the drone and the ground receiving end to determine the amount of data that the drone can communicate with the external environment per unit time and the ground receiving end. , Wherein, the greater the network bandwidth, the stronger its data transmission capability and the greater the data transmission rate. Specifically, the network bandwidth is related to the UAV and the network communication module, network server, etc. of the ground receiving end related.

On the other hand, it is necessary to detect the amount of data with transmission data buffered in the buffer space of the drone to determine when there is data retention and the degree of data retention in the buffer space, so as to determine how much image data is currently Need to be transmitted to the ground receiving end.

Step 120: Adjust the coding rate of the data to be transmitted according to the network bandwidth.

After detecting the network bandwidth, the encoding rate of the data to be transmitted can be adjusted according to the network bandwidth to avoid data transmission jams. Specifically, when the network bandwidth is high, the coding rate of the data to be transmitted is increased, and when the network bandwidth is low, the coding rate of the data to be transmitted is decreased. The coding rate is the number of data bits that can be transmitted per unit time during data transmission, and the unit is kbps, which is kilobits per second. The higher the coding rate, the information of the image data retained by the data to be transmitted The more the data is, the less the loss of the data to be transmitted, and the image information obtained after transmission to the ground receiving end for decoding is closer to the original image collected by the drone.

Step 130: Adjust the encoding mode of the data to be transmitted according to the amount of data.

After detecting the data volume of the data to be transmitted buffered in the buffer space of the drone, adjust the encoding method of the data to be transmitted according to the currently acquired data volume, so as to achieve no data retention in the buffer space When the data to be transmitted is encoded in an encoding method that can retain the most image information to transmit the data to be transmitted, and when there is data to be transmitted in the buffer space, the buffer space is cleared as soon as possible by adjusting the encoding method Data is retained inside to avoid situations such as image blurring caused by data overflow.

The embodiment of the present invention provides a video transmission control method. The method first detects the network bandwidth between the drone and the ground receiving end, and the data to be transmitted buffered in the buffer space of the drone Then adjust the encoding rate of the data to be transmitted according to the network bandwidth, and adjust the encoding method of the data to be transmitted according to the data amount. The image transmission control method provided by the embodiment of the present invention applies In the case of drones, it can maintain the smoothness of image data during long-distance transmission by the drone.

In some embodiments, please refer to FIG. 3, which shows a sub-flow chart of step 110 in the method shown in FIG. 2. The step 110 includes but is not limited to the following steps:

Step 111: Obtain the time required for a data interaction between the drone and the ground receiving end.

Step 112: Calculate the network bandwidth according to the time and the data volume of the one data exchange.

In detecting the network bandwidth between the drone and the ground receiving end, specifically, it can be determined by determining the time required for one data exchange between the drone and the ground receiving end and the amount of data exchanged. Case, calculate the network bandwidth. For example, when the drone sends data with a data volume of D to the ground receiving end at time t1, and the ground receiving end feeds back the received information to the drone at time t2, the network bandwidth at this time is D/( t2-t1), which can characterize the amount of data that the current network can transmit per unit time. It should be noted that the network bandwidth needs to be obtained by real-time detection and calculation by the drone to ensure that the current network situation can be monitored in real time.

In some embodiments, please refer to FIG. 4, which shows a sub-flow chart of step 120 in the method shown in FIG. 2. The step 120 includes but is not limited to the following steps:

Step 121: Determine whether the network bandwidth between the drone and the ground receiving end is in an ascending state or a descending state; if it is in a descending state, skip to step 122; if it is in an ascending state, skip to step 123.

Step 122: Decrease the coding rate of the data to be transmitted according to the preset first adjustment strategy.

Step 123: Increase the coding rate of the data to be transmitted according to the preset second adjustment strategy.

In the embodiment of the present invention, after detecting the network bandwidth between the drone and the ground receiving end, it is further determined whether the network bandwidth is in the rising state or the falling state, and the rising state means that the network bandwidth is in the Gradually increasing, the decreasing state means that the network bandwidth is gradually decreasing. When the network bandwidth remains unchanged or stabilizes in a certain interval, the coding rate of the data to be transmitted is not changed. When the network bandwidth tends to increase or decrease, the coding rate of the data to be transmitted is adjusted according to the corresponding preset adjustment strategy. It should be noted that when the drone and the ground receiving end just start to transmit data, it is also necessary to detect the network bandwidth and set the encoding rate of the data to be transmitted according to the size of the network bandwidth.

Specifically, in some embodiments, please refer to FIG. 5, which shows a sub-flow chart of step 122 in the method shown in FIG. 4. The step 122 includes but is not limited to the following steps:

Step 1221: Obtain the down gear corresponding to the network bandwidth.

Step 1222: Decrease the gear of the coding rate of the data to be transmitted according to the down gear.

In the embodiment of the present invention, when the network bandwidth shows a tendency to decrease, the down gear corresponding to the current network bandwidth is obtained, and the gear of the encoding code rate of the data to be transmitted is lowered according to the down gear. For example, when it is detected that the current network bandwidth D0 has dropped to a level lower than D1, the encoding rate of the data to be transmitted is adjusted to be reduced by one level on the basis of the current encoding rate; it is detected that the current network bandwidth D0 has dropped below the level of D1. When the D2 gear (D2 gear is lower than D1 gear), the encoding rate of the data to be transmitted is adjusted to reduce the second gear on the basis of the current encoding rate; it is detected that the current network bandwidth D0 drops below D3 When the gear position (D3 gear position is lower than D2 gear position), the encoding rate of the data to be transmitted is adjusted to reduce to the lowest gear. Specifically, the setting of the reduction gear of the network bandwidth and its specific value, as well as the setting of the corresponding coding rate gear and its specific value, can be set according to actual application scenarios and usage conditions, and does not need to be restricted to the present invention. Limitations of the embodiment.

Specifically, in some embodiments, please refer to FIG. 6, which shows a sub-flow chart of step 123 in the method shown in FIG. 4. The step 123 includes but is not limited to the following steps:

Step 1231: Detect whether the network bandwidth meets the file upgrade condition, where the file upgrade condition is that the number of times that the network bandwidth is continuously detected to be greater than or equal to the first preset bandwidth is M+N*M, and the M is set A fixed value, the N is the number of pre-shifts. If satisfied, skip to step 1232; if not satisfied, repeat step 1231.

Step 1232: Increase the coding rate of the data to be transmitted by one level.

In the embodiment of the present invention, when the network bandwidth shows an increasing trend, it is obtained whether the current network bandwidth exceeds M+N*M times and is greater than or equal to the first preset bandwidth, and if so, the encoding rate of the data to be transmitted is Raise one gear. For example, when M is set to 3 and there is no upgrade within a certain period of time (N=0), if it is detected that the network bandwidth exceeds 3+0*3=3 times greater than or equal to the first preset bandwidth D0, the The encoding rate of the data to be transmitted is increased by one level; when it is continuously detected that the network bandwidth exceeds 3+1*3=6 times greater than or equal to the first preset broadband D0, the encoding rate of the data to be transmitted is changed Raise one level higher; when it is continuously detected that the network bandwidth exceeds 3+2*3=9 times greater than or equal to the first preset bandwidth D0, raise the encoding rate of the data to be transmitted up one level again; The above process of detecting the network bandwidth is repeated until the encoding rate is increased to the highest level, or when the network bandwidth shows a downward trend, the encoding rate of the data to be transmitted is stopped to be increased. Wherein, the more the number of times of promotion is, the longer the detection period of the network bandwidth is, and the system needs to continue to detect the network bandwidth until the encoding rate is increased to the highest level or the network bandwidth decreases. Specifically, with regard to the gear or value of the first preset bandwidth of the network bandwidth, the set value M, the number of pre-stage gears N, and the corresponding coding rate gear and the setting of the specific value can be set according to The actual application scenarios and usage conditions are set without being limited to the limitations of the embodiments of the present invention.

In some embodiments, please refer to FIG. 7, which shows a sub-flow chart of step 130 in the method shown in FIG. 2. The step 130 includes but is not limited to the following steps:

Step 131: Determine whether the data amount of the data to be transmitted is in the preset first interval, the preset second interval, or the preset third interval; if it is in the preset first interval, skip to step 132; if If it is in the preset second interval, skip to step 133; if it is in the preset third interval, skip to step 134.

Step 132: Adjust the coding mode of the data to be transmitted to the normal coding mode.

Step 133: Adjust the encoding mode of the data to be transmitted to an interval frame skipping reference encoding method, and delete the odd or even frames of the difference frame of the image of the data to be transmitted in the buffer space to obtain the adjusted image data.

Step 134: Adjust the encoding method of the data to be transmitted to the normal encoding method, and retain the key frames of the image in the data to be transmitted, and delete the difference frames associated with the key frames to obtain adjusted image data .

In the embodiment of the present invention, it is also possible to adjust the encoding method of the data to be transmitted according to the amount of data buffered in the buffer space of the data to be transmitted, so as to avoid problems such as image blurring caused by excessive overflow of the remaining data in the buffer space. Specifically, the data volume of the data to be transmitted buffered in the buffer space is set to three intervals in the embodiment of the present invention.

Wherein, when the amount of data to be transmitted is within the preset first interval, the amount of retained data may be 0-B1. When the retained data is lower than the threshold value B1, the system can process the retained data normally , There is no need to mobilize too much memory for data processing, and the data to be transmitted can also be stably transmitted to the ground receiving end through the network.

When the data amount of the data to be transmitted is within the preset second interval, the amount of data stranded can be B1-B2. At this time, the system needs to occupy the running memory of other units for data processing, and the data to be transmitted cannot be stable It is transmitted to the bottom receiving end through the network, and in the preset second interval, the data in the buffer space will accumulate more and more. Therefore, at this time, the image data needs to adopt a strategy of frame dropping at intervals. It should be noted that the image data is divided into multiple code streams according to different contents. Each code stream is composed of a key frame I and a difference frame P associated with the key frame. Each difference frame after the key frame I is There is a partial difference from the previous frame, and the difference frame P is the frame that saves the difference data between the current frame and the previous frame. When decoding, a complete picture can be obtained by decoding the I frame, and by decoding the P frame associated with the I frame, the difference information of the image can be superimposed or covered to achieve the effect of animation or video.

When the normal encoding method is the ordinary encoding method of I←P1←P2←P3←P4←P5←P6, that is, when each P frame refers to the previous frame, and the P frames are in a series state, At this time, if any of the P frames is deleted, the subsequent P frames will lose their reference frames, and the image will be blurred during image decoding. Therefore, in the embodiment of the present invention, if the amount of data in the buffer space is within the preset second interval, the encoding method of the data to be transmitted needs to be adjusted to the interval frame skipping reference encoding method at this time, that is, Yes, change the above coding mode to the coding mode of I←P2←P4←P6, I←P1, P2←P3, P4←P5. At this time, if the odd-numbered difference frames (P1, P3, P5) are deleted, Other frames can also refer to the previous frame normally, and the image will not appear blurred. Or, change the above coding mode to the coding mode of I←P1←P3←P5, P2←P3, P4←P5. At this time, if the even-numbered difference frame (P2, P4) is deleted, the other frames can still be normal Refer to the previous frame. Therefore, the present application may adopt a method of deleting the odd-numbered or even-numbered frames of the difference frame of the image of the image to be transmitted in the buffer space as described above, so as to reduce the data volume of the to-be-transmitted data in the buffer space, and obtain the adjusted Image data.

When the data amount of the data to be transmitted is within the preset third interval, the amount of retained data can be B2-B3 (B3 is the maximum amount of data that can be stored in the buffer space). When it is higher than the threshold value B2, the system can no longer process the stranded data normally, it needs to call a large amount of system memory for data request, and at this time, the data cannot be transmitted to the ground receiving end stably and in time. At this time, the strategy of clearing the queue is directly adopted, only the key frame I in the image data is retained, all the difference frames P associated with the key frame I are discarded, and all the new difference frames P are discarded until the new key frame I enters After the buffer space is restored, data transmission in the normal encoding mode is resumed to prevent excessive overflow of retained data and cause image blurring, and it can also solve the problem of excessive image data delay.

In addition, with regard to the preset first interval, the preset second interval, the preset third interval, and how many preset intervals, the encoding method of the data to be encoded, and the setting of specific values can be set according to actual conditions. The setting of application scenarios and usage conditions does not need to be restricted to the limitations of the embodiments of the present invention.

The embodiment of the present invention also provides a picture transmission control system, which is applied to a UAV. Please refer to FIG. 8, which shows a schematic structural diagram of a picture transmission control system provided by an embodiment of the present invention. 200 includes: a detection unit 210, a first adjustment unit 220, and a second adjustment unit 230.

The detection unit 210 is used to detect the network bandwidth between the drone and the ground receiving end, and the amount of data to be transmitted buffered in the buffer space of the drone

The first adjustment unit 220 is configured to adjust the coding rate of the data to be transmitted according to the network bandwidth;

The second adjustment unit 230 is configured to adjust the encoding mode of the data to be transmitted according to the amount of data.

In some embodiments, the detection unit 210 is also used to obtain the time required for a data interaction between the drone and the ground receiving end;

In some embodiments, the first adjustment unit 220 is also used to determine whether the network bandwidth between the drone and the ground receiving end is in an ascending state or a descending state;

In some embodiments, the first adjustment unit 220 is further configured to obtain the down gear corresponding to the network bandwidth;

In some embodiments, the first adjustment unit 220 is further configured to detect whether the network bandwidth satisfies the file upgrade condition, where the file upgrade condition is the number of times that the network bandwidth is continuously detected to be greater than or equal to the first preset bandwidth Is M+N*M times, the M is the set value, and the N is the number of pre-shifts;

In some embodiments, the second adjustment unit 230 is further configured to determine whether the data amount of the data to be transmitted is located in a preset first interval, a preset second interval, or a preset third interval;

The embodiment of the present invention also provides an unmanned aerial vehicle, please refer to FIG. 9, which shows the hardware structure of an unmanned aerial vehicle capable of executing the image transmission control method described in FIGS. 2 to 7. The drone 10 may be the drone 10 shown in FIG. 1.

The unmanned aerial vehicle 10 includes: at least one processor 11; and a memory 12 communicatively connected with the at least one processor 11, and one processor 11 is taken as an example in FIG. 9. The memory 12 stores instructions that can be executed by the at least one processor 11, and the instructions are executed by the at least one processor 11, so that the at least one processor 11 can execute the instructions shown in FIGS. 2 to 7 above. The picture transmission control method described. The processor 11 and the memory 12 may be connected through a bus or in other ways. In FIG. 9, the connection through a bus is taken as an example.

As a non-volatile computer-readable storage medium, the memory 12 can be used to store non-volatile software programs, non-volatile computer-executable programs, and modules, such as the program corresponding to the image transmission control method in the embodiment of the present application. Instructions/modules, for example, the various modules shown in FIG. 8. The processor 11 executes various functional applications and data processing of the server by running non-volatile software programs, instructions, and modules stored in the memory 12, that is, realizes the image transmission control method of the foregoing method embodiment.

The memory 12 may include a storage program area and a storage data area. The storage program area may store an operating system and an application program required by at least one function; the storage data area may store data created according to the use of the image transmission control device. In addition, the memory 12 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one magnetic disk storage device, a flash memory device, or other non-volatile solid-state storage devices. In some embodiments, the memory 12 may optionally include memories remotely provided with respect to the processor 11, and these remote memories may be connected to the image transmission control device via a network. Examples of the aforementioned networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

The one or more modules are stored in the memory 12, and when executed by the one or more processors 11, the image transmission control method in any of the foregoing method embodiments is executed, for example, the above-described FIG. 2 is executed. The steps to the method in FIG. 7 realize the functions of each module and each unit in FIG. 8.

The above-mentioned products can execute the methods provided in the embodiments of the present application, and have functional modules and beneficial effects corresponding to the execution methods. For technical details that are not described in detail in this embodiment, please refer to the method provided in the embodiment of this application.

The embodiments of the present application also provide a non-volatile computer-readable storage medium, the computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are executed by one or more processors, for example, The above-described method steps in FIGS. 2 to 7 implement the functions of each module in FIG. 8.

The embodiments of the present application also provide a computer program product, including a calculation program stored on a non-volatile computer-readable storage medium, the computer program including program instructions, when the program instructions are executed by a computer, cause all The computer executes the image transmission control method in any of the foregoing method embodiments, for example, executes the method steps in FIGS. 2 to 7 described above to realize the functions of the modules in FIG. 8.

It should be noted that the device embodiments described above are only illustrative, and the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physically separate. Units can be located in one place or distributed to multiple network units. Some or all of the modules can be selected according to actual needs to achieve the objectives of the solutions of the embodiments.

Through the description of the above implementation manners, those of ordinary skill in the art can clearly understand that each implementation manner can be implemented by means of software plus a general hardware platform, and of course, it can also be implemented by hardware. A person of ordinary skill in the art can understand that all or part of the processes in the methods of the foregoing embodiments can be implemented by instructing relevant hardware through a computer program. The program can be stored in a computer readable storage medium, and the program can be stored in a computer readable storage medium. When executed, it may include the procedures of the above-mentioned method embodiments. Wherein, the storage medium may be a magnetic disk, an optical disc, a read-only memory (Read-Only Memory, ROM), or a random access memory (Random Access Memory, RAM), etc.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, not to limit them; under the idea of the present invention, the technical features of the above embodiments or different embodiments can also be combined. The steps can be implemented in any order, and there are many other variations of the different aspects of the present invention as described above. For the sake of brevity, they are not provided in the details; although the present invention has been described in detail with reference to the foregoing embodiments, it is common in the art The skilled person should understand that: they can still modify the technical solutions recorded in the foregoing embodiments, or equivalently replace some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the implementations of the present invention. Examples of the scope of technical solutions.

Claims

An image transmission control method, characterized in that it is applied to an unmanned aerial vehicle, and the method includes:

Detecting the network bandwidth between the drone and the ground receiving end, and the amount of data to be transmitted buffered in the buffer space of the drone;

Adjusting the coding rate of the data to be transmitted according to the network bandwidth;

According to the data volume, the encoding mode of the data to be transmitted is adjusted.
The method of claim 1, wherein:

The step of detecting the network bandwidth between the drone and the ground receiving end further includes:

Acquiring the time required for a data interaction between the drone and the ground receiving end;

Calculate the network bandwidth according to the time and the data volume of the one data exchange.
The method of claim 2, wherein:

The step of adjusting the coding rate of the data to be transmitted according to the network bandwidth further includes:

Judging whether the network bandwidth between the UAV and the ground receiving end is in a rising state or a falling state;

If it is in a falling state, reduce the coding rate of the data to be transmitted according to the preset first adjustment strategy;

If it is in the rising state, the coding rate of the data to be transmitted is increased according to the preset second adjustment strategy.
The method according to claim 3, wherein the step of reducing the coding rate of the data to be transmitted according to a preset first adjustment strategy further comprises:

Acquiring the down gear corresponding to the network bandwidth;

According to the down gear, lower the gear of the coding rate of the data to be transmitted.
The method according to claim 3, wherein the step of increasing the coding rate of the data to be transmitted according to a preset second adjustment strategy further comprises:

It is detected whether the network bandwidth satisfies the file upgrade condition, where the file upgrade condition is that the number of times that the network bandwidth is continuously detected to be greater than or equal to the first preset bandwidth is M+N*M, and the M is a set value, Said N is the number of previous pre-shifts;

If it is satisfied, the coding rate of the data to be transmitted is increased by one level.
The method according to any one of claims 1-5, characterized in that,

The step of adjusting the encoding mode of the data to be transmitted according to the amount of data further includes:

Judging whether the data amount of the data to be transmitted lies in a preset first interval, a preset second interval, or a preset third interval;

If it is in the preset first interval, adjusting the encoding mode of the data to be transmitted to the normal encoding mode;

If it is in the preset second interval, the encoding mode of the data to be transmitted is adjusted to the interval frame skipping reference encoding mode, and the odd or even numbered frame of the difference frame of the image of the data to be transmitted in the buffer space is deleted Frame to obtain the adjusted image data;

If it is in the preset third interval, the encoding mode of the data to be transmitted is adjusted to the normal encoding mode, and the key frame of the image in the data to be transmitted is retained, and the difference frame associated with the key frame is deleted To get the adjusted image data.
An image transmission control system, characterized in that it is applied to an unmanned aerial vehicle, and the system includes:

The detection unit is used to detect the network bandwidth between the drone and the ground receiving end, and the amount of data to be transmitted buffered in the buffer space of the drone

The first adjustment unit is configured to adjust the coding rate of the data to be transmitted according to the network bandwidth;

The second adjustment unit is configured to adjust the encoding mode of the data to be transmitted according to the amount of data.
The system according to claim 7, wherein:

The detection unit is also used to obtain the time required for a data interaction between the drone and the ground receiving end;

Calculate the network bandwidth according to the time and the data volume of the one data exchange.
The system according to claim 8, wherein:

The first adjustment unit is also used to determine whether the network bandwidth between the UAV and the ground receiving end is in a rising state or a falling state;

If it is in a falling state, reduce the coding rate of the data to be transmitted according to the preset first adjustment strategy;

If it is in the rising state, the coding rate of the data to be transmitted is increased according to the preset second adjustment strategy.
The system according to claim 9, wherein:

The first adjustment unit is also used to obtain the down gear corresponding to the network bandwidth;

According to the down gear, lower the gear of the coding rate of the data to be transmitted.
The system according to claim 9, wherein:

The first adjustment unit is further configured to detect whether the network bandwidth satisfies a file upgrade condition, where the file upgrade condition is that the number of times that the network bandwidth is continuously detected to be greater than or equal to the first preset bandwidth is M+N*M , The M is the set value, and the N is the number of pre-shifts;

If it is satisfied, the coding rate of the data to be transmitted is increased by one level.
The system according to any one of claims 7-11, wherein:

The second adjustment unit is further configured to determine whether the data amount of the data to be transmitted is in a preset first interval, a preset second interval, or a preset third interval;

If it is in the preset first interval, adjusting the encoding mode of the data to be transmitted to the normal encoding mode;

If it is in the preset second interval, the encoding mode of the data to be transmitted is adjusted to the interval frame skipping reference encoding mode, and the odd or even numbered frame of the difference frame of the image of the data to be transmitted in the buffer space is deleted Frame to obtain the adjusted image data;

If it is in the preset third interval, the encoding mode of the data to be transmitted is adjusted to the normal encoding mode, and the key frame of the image in the data to be transmitted is retained, and the difference frame associated with the key frame is deleted To get the adjusted image data.
An unmanned aerial vehicle, characterized in that it includes:

At least one processor; and,

A memory communicatively connected with the at least one processor; wherein,

The memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor, so that the at least one processor can execute any one of claims 1 to 6 Methods.
A computer-readable storage medium, wherein the computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are used to make a computer execute the method according to any one of claims 1 to 6 .