WO2021121011A1 - Procédé et système de commande de transfert d'image, et véhicule aérien sans pilote - Google Patents

Procédé et système de commande de transfert d'image, et véhicule aérien sans pilote Download PDF

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Publication number
WO2021121011A1
WO2021121011A1 PCT/CN2020/132318 CN2020132318W WO2021121011A1 WO 2021121011 A1 WO2021121011 A1 WO 2021121011A1 CN 2020132318 W CN2020132318 W CN 2020132318W WO 2021121011 A1 WO2021121011 A1 WO 2021121011A1
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Prior art keywords
data
transmitted
preset
network bandwidth
interval
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PCT/CN2020/132318
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English (en)
Chinese (zh)
Inventor
李昭早
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深圳市道通智能航空技术股份有限公司
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Publication of WO2021121011A1 publication Critical patent/WO2021121011A1/fr

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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N19/00—Methods or arrangements for coding, decoding, compressing or decompressing digital video signals
    • H04N19/10—Methods or arrangements for coding, decoding, compressing or decompressing digital video signals using adaptive coding
    • H04N19/134—Methods or arrangements for coding, decoding, compressing or decompressing digital video signals using adaptive coding characterised by the element, parameter or criterion affecting or controlling the adaptive coding
    • H04N19/146—Data rate or code amount at the encoder output

Definitions

  • 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.
  • Unmanned Aerial Vehicle 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”.
  • the inventor found that the above related technologies have at least the following problems:
  • 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.
  • 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.
  • an embodiment of the present invention provides a video transmission control method, which is applied to an unmanned aerial vehicle, and the method includes:
  • the encoding mode of the data to be transmitted is adjusted.
  • the step of detecting the network bandwidth between the drone and the ground receiving end further includes:
  • the step of adjusting the coding rate of the data to be transmitted according to the network bandwidth further includes:
  • the coding rate of the data to be transmitted is increased according to the preset second adjustment strategy.
  • the step of reducing the coding rate of the data to be transmitted according to a preset first adjustment strategy further includes:
  • the step of increasing the coding rate of the data to be transmitted according to a preset second adjustment strategy further includes:
  • 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;
  • the coding rate of the data to be transmitted is increased by one level.
  • the step of adjusting the encoding mode of the data to be transmitted according to the amount of data further includes:
  • 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;
  • 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 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.
  • the detection unit is also used to obtain the time required for a data interaction between the drone and the ground receiving end;
  • 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;
  • the coding rate of the data to be transmitted is increased according to the preset second adjustment strategy.
  • the first adjustment unit is further configured to obtain the down gear corresponding to the network bandwidth
  • 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;
  • the coding rate of the data to be transmitted is increased by one level.
  • 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;
  • 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;
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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
  • FIG. 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;
  • FIG. 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.
  • 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.
  • 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
  • UAV Unmanned Aerial Vehicle
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the network bandwidth is related to the UAV and the network communication module, network server, etc. of the ground receiving end related.
  • Step 120 Adjust the coding rate of the data to be transmitted according to 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.
  • the drone 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
  • 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.
  • FIG. 3 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.
  • the network bandwidth between the drone and the ground receiving end 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.
  • FIG. 4 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.
  • the network bandwidth 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.
  • the coding rate of the data to be transmitted is not changed.
  • 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.
  • FIG. 5 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.
  • 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.
  • 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.
  • 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
  • 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.
  • 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.
  • FIG. 6, 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.
  • 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.
  • the encoding rate of the data to be transmitted is Raise one gear.
  • 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.
  • FIG. 7 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 .
  • 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.
  • 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.
  • the amount of retained data when the amount of data to be transmitted is within the preset first interval, the amount of retained data may be 0-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.
  • the image data needs to adopt a strategy of frame dropping at intervals.
  • 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
  • the difference frame P is the frame that saves the difference data between the current frame and the previous frame.
  • 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.
  • 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.
  • the odd-numbered difference frames P1, P3, P5
  • Other frames can also refer to the previous frame normally, and the image will not appear blurred.
  • 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.
  • the amount of retained data can be B2-B3 (B3 is the maximum amount of data that can be stored in the buffer space).
  • B3 is the maximum amount of data that can be stored in the buffer space.
  • 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.
  • a picture transmission control system which is applied to a UAV.
  • FIG. 8 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.
  • the detection unit 210 is also used to obtain the time required for a data interaction between the drone and the ground receiving end;
  • 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;
  • the coding rate of the data to be transmitted is increased according to the preset second adjustment strategy.
  • the first adjustment unit 220 is further configured to obtain the down gear corresponding to the network bandwidth
  • 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;
  • the coding rate of the data to be transmitted is increased by one level.
  • 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 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;
  • 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.
  • 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 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.
  • 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.
  • 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.
  • 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 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.
  • 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.
  • 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.
  • 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.
  • 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.

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Abstract

L'invention se rapporte au domaine technique de la photographie aérienne et concerne un procédé de commande de transfert d'image. Le procédé consiste à : d'abord détecter la largeur de bande du réseau entre un véhicule aérien sans pilote et une extrémité de réception au sol, ainsi que la quantité de données à transmettre qui est mise en tampon dans un espace tampon du véhicule aérien sans pilote ; puis ajuster la vitesse de codage desdites données en fonction de la largeur de bande du réseau ; et en fonction de la quantité de données, ajuster le moyen de codage desdites données. Lorsqu'il est appliqué à un véhicule aérien sans pilote, le procédé de commande de transfert d'image de l'invention permet de maintenir le flux de données d'image lorsque le véhicule aérien sans pilote effectue une transmission longue distance.
PCT/CN2020/132318 2019-12-17 2020-11-27 Procédé et système de commande de transfert d'image, et véhicule aérien sans pilote WO2021121011A1 (fr)

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CN110933380A (zh) * 2019-12-17 2020-03-27 深圳市道通智能航空技术有限公司 一种图传控制方法、系统及无人机
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