WO2021217581A1

WO2021217581A1 - Data transmission method, data transmission system, mobile device, and terminal device

Info

Publication number: WO2021217581A1
Application number: PCT/CN2020/088288
Authority: WO
Inventors: 江杨; 杨健; 吴洋
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2020-04-30
Filing date: 2020-04-30
Publication date: 2021-11-04
Also published as: CN112640446A

Abstract

A data transmission method, a data transmission system, a mobile device, and a terminal device. The data transmission method executed by the mobile device comprises: receiving a data request instruction from at least one of a plurality of terminal devices, the data request instruction being used for requesting a data stream of at least one of a plurality of sources; and in response to the data request instruction of the at least one of the plurality of terminal devices, transmitting, on the basis of a specified frequency band, at least some data streams corresponding to the data request instruction of the at least one of the plurality of terminal devices, such that the at least one of the plurality of terminal devices determines, from the at least some data streams, a data stream corresponding to the data request instruction sent by each terminal device, wherein the specified frequency band comprises one or more sub-frequency bands, and a correspondence exists between the sub-frequency bands and the sources. According to the data transmission method, images can be transmitted by means of multiple data transmission channels simultaneously, a user can conveniently view multiple images in real time, and the user experience is improved.

Description

Data transmission method, data transmission system, movable equipment and terminal equipment

Technical field

The present disclosure relates to the field of data transmission technology, and in particular to a data transmission method, a data transmission system, a movable device and a terminal device.

Background technique

During surveys or inspections, there may be such a demand that different users hope to display the images collected by different cameras on the mobile device through the display screen of the terminal device at the same time period.

However, in the solution of real-time data transmission for mobile devices in the related art, images can be transmitted through a data transmission channel and the data transmission channel can be managed, which cannot satisfy different users wishing to pass through the display screen of the terminal device at the same time period. , Respectively display the requirements of images collected by different cameras on the mobile device.

Public content

The embodiments of the present disclosure provide a data transmission method, a data transmission system, a mobile device, and a terminal device, which can transmit data streams through multiple data transmission channels at the same time, and manage the multiple data transmission channels, so that users can view in real time And manage multiple data streams to improve user experience.

In the first aspect, the embodiments of the present disclosure provide a data transmission method executed by a mobile device. The mobile device is communicatively connected with multiple terminal devices, and multiple sources are set on the mobile device. The method includes: first, receiving A data request instruction from at least one terminal device among the plurality of terminal devices, and the data request instruction is used to request a data stream from at least one of the multiple sources. Then, in response to the data request instruction of at least one terminal device among the plurality of terminal devices, at least part of the data stream corresponding to the data request instruction of at least one terminal device among the plurality of terminal devices is transmitted based on the designated frequency band, so that at least one of the plurality of terminal devices A data stream corresponding to the sent data request instruction is respectively determined from at least part of the data stream. Wherein, the designated frequency band includes one or more sub-bands, and there is a corresponding relationship between the sub-bands and the source.

In the data transmission method provided by the embodiments of the present disclosure, since multiple control terminals can respectively send data request instructions to the mobile device at the same time to request data streams from one or more sources, the mobile device transmits in a manner such as broadcasting based on a designated frequency band. Data streams from one or more sources corresponding to the data request, where a sub-band in the designated frequency band is used to transmit data streams from one source, so that different terminal devices can obtain one or more sources based on one or more sub-bands at the same time The data stream realizes the multi-channel sharing mechanism. When multiple terminal devices request images from multiple different sources, multiple terminal devices can respectively display at the same time, which satisfies different users who want to display different camera collections on the mobile device through the display screen of the terminal device at the same time period. The demand for images. In addition, data streams from one source are transmitted based on the same sub-band, which effectively saves frequency band resources.

In the second aspect, the embodiments of the present disclosure provide a data transmission method executed by a terminal device. The terminal device is communicatively connected with a movable device. The movable device is provided with multiple sources, and the multiple sources can collect information separately to generate and For the data stream corresponding to the information, the above method may include: firstly, sending a data request instruction to the mobile device, the data request instruction being used to request a data stream from at least one of the multiple sources. Then, a data stream from at least one of the multiple sources is determined from the data stream transmitted by the mobile device based on the designated frequency band. Wherein, the designated frequency band includes one or more sub-bands, and there is a corresponding relationship between the sub-bands and the source.

According to the data transmission method provided by the embodiments of the present disclosure, after a terminal device sends a data request instruction from one or more sources to a mobile device, the data stream usage of the one or more sources can be determined based on the correspondence between the source and the sub-band Furthermore, based on the sub-band used, data streams from one or more sources can be obtained from the data stream transmitted by the terminal device, so that a terminal device can display images from one or more sources at the same time, which satisfies the user In the same time period, it is hoped that the display screen of the terminal device can separately display the images collected by different cameras on the mobile device.

In a third aspect, the embodiments of the present disclosure provide a data transmission method executed by a data transmission system. The data transmission system includes a movable device and a plurality of terminal devices communicatively connected with the movable device. The movable device is provided with a plurality of terminal devices. Source, multiple sources can collect information separately to generate a data stream corresponding to the information. The above method may include: firstly, at least one of the multiple terminal devices sends a data request instruction to the mobile device, and the data request instruction is used to request multiple sources Data stream from at least one source in. Then, in response to the data request instruction from at least one terminal device of the plurality of terminal devices, the movable device transmits at least part of the data stream corresponding to the data request instruction of at least one terminal device of the plurality of terminal devices based on the designated frequency band. Then, at least one of the plurality of terminal devices respectively determines from at least part of the data streams the data stream corresponding to the data request instruction sent by each. Wherein, the designated frequency band includes one or more sub-bands, and there is a corresponding relationship between the sub-bands and the source.

The data transmission method provided by the embodiments of the present disclosure relieves the limitation that a channel based on a designated frequency band can only support the image request of one terminal device in the related art, so that multiple terminal devices can display images collected by one or more different sources. , Which effectively improves the image transmission capability of mobile devices and expands the application scenarios.

In a fourth aspect, embodiments of the present disclosure provide a data transmission system. The data transmission system includes: a movable device and one or more terminal devices. Among them, the portable device is used to execute the data transmission method performed by the portable device as described above. The terminal device is used to execute the data transmission method performed by the terminal device as described above.

In a fifth aspect, embodiments of the present disclosure provide a removable device, which includes one or more processors and a storage medium. Wherein, the storage medium is used to store instructions, and when the instructions are executed by the processor, the method applied to the mobile device as above is realized.

In a sixth aspect, embodiments of the present disclosure provide a terminal device, and the movable device includes one or more processors and a storage medium. Wherein, the storage medium is used to store instructions, and when the instructions are executed by the processor, the above method applied to the terminal device is realized.

In a seventh aspect, embodiments of the present disclosure provide a computer storage medium, including instructions, which when run on a computer, cause the computer to execute the above method.

In an eighth aspect, embodiments of the present disclosure provide a computer program product including instructions, which when executed on a computer, cause the computer to execute the above method.

Description of the drawings

FIG. 1 is an application scenario of a data transmission method, a data transmission system, a mobile device, and a terminal device provided by an embodiment of the disclosure;

2 is an application scenario of a data transmission method, a data transmission system, a mobile device, and a terminal device provided by another embodiment of the present disclosure;

FIG. 3 is a schematic flowchart of a data transmission method provided by an embodiment of the disclosure;

4 is a schematic diagram of the correspondence between sub-bands and sources provided by an embodiment of the disclosure;

FIG. 5 is a schematic flowchart of a data transmission method provided by another embodiment of the present disclosure;

6 is a schematic flowchart of a data transmission method provided by another embodiment of the present disclosure;

FIG. 7 is a schematic diagram of a display interface of a terminal device provided by an embodiment of the disclosure;

FIG. 8 is a schematic diagram of a terminal device provided by an embodiment of the disclosure;

FIG. 9 is a schematic diagram of a first terminal device and a second terminal device provided by another embodiment of the present disclosure;

FIG. 10 is a schematic diagram of a display interface of a terminal device provided by another embodiment of the present disclosure;

FIG. 11 is a schematic flowchart of a data transmission method provided by another embodiment of the present disclosure;

FIG. 12 is a schematic structural diagram of a data transmission system provided by an embodiment of the disclosure; and

FIG. 13 is a schematic structural diagram of a movable device provided by an embodiment of the disclosure.

Detailed ways

The embodiments of the present disclosure are described in detail below. Examples of the embodiments are shown in the accompanying drawings, in which the same or similar reference numerals denote the same or similar elements or elements with the same or similar functions. The embodiments described below with reference to the drawings are exemplary, and are intended to explain the present disclosure, but should not be construed as limiting the present disclosure.

FIG. 1 is an application scenario of a data transmission method, a data transmission system, a mobile device, and a terminal device provided by the embodiments of the disclosure. As shown in FIG. 1, the description is made by taking the movable device 10 as an aircraft as an example.

The movable device 10 includes a main body 11, a carrier 13 and a load 14. Although the movable device 10 is described as an aircraft, such a description is not a limitation, and any type of movable device described above is applicable (such as a drone). In some embodiments, the load 14 is detachably and replaceably located directly on the movable device 10 without the carrier 13. In some embodiments, the load 14 is detachably and replaceably located on the carrier 13, and the carrier 13 is located on the movable device 10. The movable device 10 may include a power mechanism 15 and a sensor system 12. In addition, communication systems can also be included.

The power mechanism 15 may include one or more rotating bodies, propellers, blades, engines, motors, wheels, bearings, magnets, and nozzles. For example, the rotating body of the power mechanism may be a self-tightening rotating body, a rotating body assembly, or other rotating body power units. The movable device may have one or two, two or more, three or more, or four or more power mechanisms. All power mechanisms can be of the same type. Optionally, one or more power mechanisms may be of different types. The power mechanism 15 can be mounted on a movable device by suitable means, such as a supporting element (such as a drive shaft). The power mechanism 15 can be installed at any suitable position of the movable device 10, such as the top end, the lower end, the front end, the rear end, the side surface, or any combination thereof.

In some embodiments, the power mechanism 15 can make the movable device take off vertically from the surface, or land vertically on the surface, without any horizontal movement of the movable device 10 (such as not requiring taxiing on the runway). Optionally, the power mechanism 15 may allow the movable device 10 to hover in a preset position and/or direction in the air. One or more power mechanisms 100 may be independent of other power mechanisms when under control. Optionally, one or more power mechanisms 100 may be controlled at the same time. For example, the movable device 10 may have multiple horizontal rotating bodies to control the lifting and/or pushing of the movable device. The horizontal rotating body can be actuated to provide the movable device 10 with vertical take-off, vertical landing, and hovering capabilities. In some embodiments, one or more of the horizontal rotating bodies can rotate in a clockwise direction, and the other one or more of the horizontal rotating bodies can rotate in a counterclockwise direction. For example, the number of rotating bodies rotating clockwise is the same as the number of rotating bodies rotating counterclockwise. The rotation rate of each horizontal rotating body can be changed independently to realize the lifting and/or pushing operation caused by each rotating body, thereby adjusting the spatial orientation, speed and/or acceleration of the movable device 10 (such as relative to up to Three degrees of freedom rotation and translation).

The sensing system 12 may include one or more sensors to sense surrounding obstacles, spatial orientation, speed and/or acceleration (such as rotation and translation relative to up to three degrees of freedom) of the movable device 10. Optionally, the sensor system 12 can be used for environmental data of the mobile device, such as weather conditions, distances of surrounding obstacles, locations of geographic features, locations of man-made structures, and so on.

The communication system can realize the communication between the mobile device 10 and the terminal device 20 having a communication system via the wireless signal 30 received and sent via the antenna 22. The antenna 22 may be provided on the body 21 of the terminal device 20. The communication system may include any number of transmitters, receivers, and/or transceivers for wireless communication. The communication can be one-way communication, so that data can be sent from one direction. For example, one-way communication may include that only the mobile device 10 transmits data to the terminal device 20, or vice versa. One or more transmitters of the communication system can send data to one or more receivers of the communication system, and vice versa. Alternatively, the communication may be two-way communication, so that data can be transmitted between the mobile device 10 and the terminal device 20 in two directions. Two-way communication includes that one or more transmitters of the communication system can send data to one or more receivers of the communication system, and vice versa.

In some embodiments, the terminal device 20 may provide control instructions to one or more of the movable device 10, the carrier 13, and the load 14, and from one or more of the movable device 10, the carrier 13, and the load 14, A plurality of receiving information (such as obstacles, movable device 10, carrier 13 or load 14 position and/or movement information, load sensing data, such as image data captured by a camera). In some embodiments, the control instructions of the terminal device 20 may include instructions on position, movement, braking, or control of the movable device 10, the carrier 13 and/or the load 14. For example, the control command may cause a change in the position and/or direction of the movable device (for example, by controlling the power mechanism 15), or cause the carrier to move relative to the movable device (for example, by controlling the carrier 13). The control instructions of the terminal device 20 can lead to load control, such as controlling the operation of the camera or other image capturing devices (capturing still or moving images, zooming, turning on or off, switching imaging modes, changing image resolution, changing focus, changing depth of field, Change the exposure time, change the viewing angle or field of view). In some embodiments, the communication of the movable device 10, the carrier 13, and/or the load 14 may include information sent by one or more sensors (such as a distance sensor or an image sensor of the load 14). Communication may include sensing information transmitted from one or more sensors of different types (such as GPS sensors, motion sensors, inertial sensors, proximity sensors, or image sensors). The sensing information is about the position (such as direction, position), movement, or acceleration of the movable device 10, the carrier 13, and/or the load 14. The sensing information transmitted from the load 14 includes data captured by the load 14 or the state of the load 14. The control instructions transmitted and provided by the terminal device 20 may be used to control the state of one or more of the movable device 10, the carrier 13 or the load 14. Alternatively or collectively, each of the carrier 13 and the load 14 may include a communication module for communicating with the terminal device 20, so that the terminal device 20 can communicate or control the movable device 10, the carrier 13, and the load 14 individually. .

In some embodiments, the movable device 10 may communicate with other remote devices other than the terminal device 20, or remote devices other than the terminal device 20. The terminal device 20 can also communicate with another remote device and the mobile device 10. For example, the movable device and/or the terminal device 20 may communicate with another movable device or a carrier or load of another movable device. When necessary, the other remote device may be a second terminal or other computing devices (such as computers, desktop computers, tablet computers, smart phones, or other mobile devices). The remote device can transmit data to the mobile device 10, receive data from the mobile device 10, transmit data to the terminal device 20, and/or receive data from the terminal device 20. Optionally, the remote device can be connected to the Internet or other telecommunication networks, so that the data received from the mobile device 10 and/or the terminal device 20 can be uploaded to a website or server.

The sensor is used to collect relevant information of the movable device 10. Different types of sensors can sense different types of signals or sense signals from different sources. For example, sensors include inertial sensors, GPS sensors, distance sensors, or vision/image sensors (such as cameras). In some embodiments, the sensor can be connected to a communication system (such as a Wi-Fi image transmission module) to directly transmit the sensed data to a suitable external device or system. For example, a communication system can be used to transmit images captured by an image sensor to a remote terminal. In some embodiments, the sensor may send the collected information to the movable device 10, and then the movable device 10 sends it to the terminal device 20.

For example, multiple users use the same mobile device 10 (such as a drone) to conduct inspections of power equipment. The drone can mount multiple camera modules, and each user can use a terminal device 20 (such as The remote controller and/or smart phone) control one or more camera modules to collect images, which are sent by the mobile device 10 to the terminal device 20 for display, so that multiple users can cooperate with each other to complete the power equipment inspection work.

Fig. 2 is an application scenario of a data transmission method, a data transmission system, a mobile device, and a terminal device provided by another embodiment of the present disclosure. As shown in Fig. 2, the description is made by taking a land robot as an example of the movable device.

The movable equipment includes a main body, a driving device and a sensing module. Although the movable device is described as a land robot, such a description is not a limitation, and any type of movable device described above is applicable (such as a water robot). In some embodiments, the driving device may be located at the bottom of the movable device. The sensing module may include one or more sensors to detect relevant information of the terrestrial robot, such as obstacle information, environmental information, image information of target objects, and so on. In addition, the land robot may also include a communication system for information interaction with one or more terminals. The driving device can refer to the above power mechanism, engine, motor, etc., the sensor can also refer to the above sensor, the terminal can refer to the above terminal (such as remote control, smart phone, desktop computer, notebook computer, etc.), between the land robot and the terminal The communication can be as shown in the above embodiment, which will not be described in detail here. The mobile device can be used in scenarios such as inspections, prospecting, and catering services.

FIG. 3 is a schematic flowchart of a data transmission method provided by an embodiment of the disclosure.

As shown in FIG. 3, the method may include operation S301 to operation S303. Wherein, the movable device used to execute the method can be communicatively connected with multiple terminal devices, and multiple sources are provided on the movable device.

In operation S301, a data request instruction from at least one terminal device among a plurality of terminal devices is received, where the data request instruction is used to request a data stream from at least one of the multiple sources.

In this embodiment, for example, the source may be a camera module for collecting image information. For another example, the source may be an image sensor, a sound sensor, and so on. For another example, the source may be a camera. In addition, the source can also be any one of a movable device, a carrier, or a load or its component parts. The source generates an associated data stream during work, and can be sent to the terminal device for users to view, for example Camera module and/or microphone.

In one embodiment, one or more sources are integrated in at least one load. For example, one or more loads can be mounted on a portable device, and one or more sources can be set on each load. Taking a camera as an example, the source can be a camera (such as a monocular camera), a camera module of the camera, or an image sensor corresponding to the camera module. Each source may have a globally unique identifier, so that the source can be determined based on the globally unique identifier. The working state of each source can be controlled separately, such as making the source in working or non-working state. The working states of all sources on a load can be controlled uniformly, such as making the sources on the load work or not at the same time.

For example, the source includes at least one of a visible light lens and an infrared lens. Among them, the image sensor corresponding to the visible light lens and the image sensor corresponding to the infrared lens may be different. The focal length of the visible light lens and the focal length of the infrared lens may be different or the same. The focus of the visible light lens and the focus of the infrared lens may be the same or different. For example, the image acquisition range of the visible light lens and the image acquisition range of the infrared lens may be the same or different. The focal length of the visible light lens and the focal length of the infrared lens can be controlled separately.

Wherein, at least one load is set on the movable device through the support body. Correspondingly, at least one load sends the data stream generated based on the information collected by the source to the mobile device, so that the mobile device can transmit the data stream based on the designated frequency band. For example, the mobile device broadcasts a data stream based on a designated frequency band.

Take the example that the movable device is a drone, the load is a camera, and the source is a camera module. In one embodiment, the camera is set on the drone through a pan-tilt, and the camera's posture is adjustable. The camera is equipped with a visible light lens and an infrared lens. The user can send an image request for the image collected by the visible light lens and/or the image collected by the infrared lens to the drone through the terminal device.

In operation S303, in response to the data request instruction of at least one terminal device among the plurality of terminal devices, at least part of the data stream corresponding to the data request instruction of the at least one terminal device among the plurality of terminal devices is transmitted based on the designated frequency band, so that the plurality of terminal devices At least one of them respectively determines a data stream corresponding to the data request instruction sent from at least part of the data stream.

Wherein, the designated frequency band includes one or more sub-bands, and there is a corresponding relationship between the sub-bands and the source. The designated frequency band can be pre-set by the manufacturer, or a designated frequency band selected by the user, and the designated frequency band needs to comply with the management regulations on the frequency band in the user's place.

The mobile device can divide the designated frequency band into multiple sub-bands according to user requirements, and each sub-band has a source, so that multiple terminal devices can obtain data streams from the corresponding source based on one sub-band. Among them, the bandwidth of the sub-band is adjustable.

For example, a user sends a data request from a specific source to a mobile device through a terminal device. If the source is currently vacant, there is no occupied sub-band corresponding to the source (if data is not requested by other terminal devices, therefore, you can The mobile device does not allocate the source sub-band for other terminal devices), you can try to allocate the sub-band for the terminal device requesting the data, so that the terminal device based on the sub-band data stream transmitted from the mobile device (such as broadcast Data flow) to obtain the required data flow.

FIG. 4 is a schematic diagram of the correspondence between sub-bands and sources provided by an embodiment of the disclosure.

As shown in Figure 4, a mobile device can use a designated frequency band for data streaming. Wherein, the designated frequency band may include multiple sub-bands, and each sub-band may be fixed or divided according to user requirements. In different time periods, the union of the used sub-bands may be the designated frequency band, or there may be vacant sub-bands. The correspondence between different sub-bands and different sources may be preset, or may be set by the user when sending the data request, which is not limited here.

For example, when a user requests a data stream from source 1, the mobile device allocates sub-band 1 corresponding to the requested bandwidth according to the user request (which may include the requested bandwidth), and transmits the data stream from the requested source based on sub-band 1 . For another example, when a user requests a data stream from source 1, the mobile device determines the pre-divided sub-band 1 corresponding to source 1, and transmits the data stream from the requested source based on sub-band 1. The situation of source 2 and source 3 is similar to that of source 1, and will not be detailed here.

Compared with the related technology that only allows one terminal device to receive the data stream from the mobile device (this causes the terminal device to preempt resources and cannot support multi-person cooperation), the data transmission method provided in this embodiment can allow multiple terminal devices to receive at the same time. Into the mobile device, and request data streams from at least one of the multiple sources of the mobile device, so that the utilization rate of frequency band resources is higher, and multi-person collaboration can be supported.

Secondly, compared to the situation where multiple cameras can be mounted on the mobile device in the related technology, the related technology only allows the data stream of one camera to be sent to the terminal device at the same time, which limits the ability of the mobile device to provide services. , It also cannot support the collaborative work of multiple cameras with different spectrums (for example, a visible light camera and an infrared camera). The data transmission method provided in this embodiment satisfies the requirement of real-time data stream transmission to multiple terminal devices through multiple channels under the above-mentioned situation.

The technical solutions of the embodiments of the present disclosure better improve the situation where multiple camera loads are mounted on the drone under the limited wireless communication bandwidth, and there are multiple terminal devices (such as remote controllers and smart phones) on the ground. The problem of real-time image transmission from multiple different sources is displayed on the monitor or smart phone at the same time.

In another embodiment, in order to facilitate the user to clearly understand the working status or frequency band usage status of each source when sending a data request from a specific source to the mobile device, the above method may further include the following operations.

First, receive an access request instruction from the terminal device to be accessed.

Then, in response to the access request instruction, at least one of the following frequency band-related information is sent to the terminal device to be accessed: source operating status, available sub-bands, initially allocated sub-bands, used sub-bands, source corresponding to the used sub-bands . In this way, the user can view the above-mentioned at least one type of frequency band associated information on the terminal device, so that a data request based on the at least one type of frequency band associated information has a higher success rate. For example, if the user wants to obtain the data stream of source 1, and the data stream of source 1 is being transmitted to another terminal device through sub-band 1, the user can know that there is no need to send the mobile device to open source 1 after viewing this information. The request instruction is to obtain the required data stream directly based on sub-band 1.

For example, the data request instruction may include at least one of the following information: a first source identifier, an operation instruction of a sub-band corresponding to the first source identifier, and request sub-band information. This allows the user to operate and manage the wireless communication channel for image transmission, including opening and closing, setting different bandwidth occupancy, etc., so as to improve user convenience. In addition, different bandwidth occupancy can be set according to user requirements to meet usage requirements in different scenarios. This is easy to implement: the drone can send images generated by multiple cameras in real time to the terminal device at the same time, and the terminal device can select from multiple images. At the same time, the terminal device can also issue instructions to control the drone to turn on or turn off the image transmission of a certain camera.

Wherein, the requested sub-band information is the same as or different from the initial allocated sub-band. For example, the user can directly use the initial allocated sub-band information allocated by the mobile device as the requested sub-band information in the data request instruction. For another example, when a user needs a request sub-band that is wider than the initial allocated sub-band information to transmit a data stream, he can input the requested sub-band information by himself to obtain a wider bandwidth. This effectively improves the convenience of users.

Correspondingly, in related technologies, the terminal device cannot be allowed to freely choose the channel (or source) to open and close the source. After making the choice, the user can only wait for the movable device to be in the specified state (such as the closed state after the drone is landed), and then Can only be reselected when it is turned on. The method provided in this embodiment enables the user to try to open and close the source channel (or source) at any time, which improves the convenience of the user's operation.

FIG. 5 is a schematic flowchart of a data transmission method provided by another embodiment of the present disclosure.

As shown in FIG. 5, the above method may further include the following operations.

In operation S511, after performing operation S301, if the data request instruction includes the first source identification, it is determined whether there is a used sub-band corresponding to the first source identification.

In operation S513, if it is determined that there is a used sub-band corresponding to the first source identifier, the request success information is fed back to the terminal device corresponding to the data request instruction.

Since the mobile device sends the data stream corresponding to the data request instruction in the form of broadcast, multiple terminal devices can obtain the data stream of the required source based on the sub-band corresponding to the source. This also makes it unnecessary to allocate a new sub-band to the terminal device that sends the data request instruction when a source already has a corresponding occupied sub-band and receives the data request instruction from the source again, and notifies the terminal device that the request is successful. You can directly use the occupied sub-band to obtain the required data stream. This effectively saves frequency band resources.

In another embodiment, the following situation may exist: the source of the data request instruction does not have occupied sub-bands, for example, the source of the data request instruction is not requested by other terminal devices, or the mobile device does not give the data request instruction All sources have allocated sub-bands, but if the current frequency band resources can meet the frequency band resources required by the data request command, the required frequency band resources can be allocated for the data request command.

Specifically, the above method may further include operations S521 to S523. Wherein, the data request instruction also includes the requested sub-band information.

In operation S521, after performing operation S511, if it is determined that the used sub-band corresponding to the first source identifier is empty, compare the available sub-band information with the requested sub-band information to determine whether the sub-band allocation condition is satisfied.

In operation S523, if it is determined that the allocation sub-band condition is satisfied, the terminal device corresponding to the data request instruction is allocated a sub-band corresponding to the requested sub-band information.

In this embodiment, if it is determined that the used sub-band corresponding to the first source identifier is empty, it indicates that there is currently no suitable sub-band to send the data stream of the source identified by the first source. Therefore, it can be further determined whether it can be The terminal device corresponding to the data request instruction allocates a sub-band, so that the terminal device obtains a required data stream based on the allocated sub-band. If it is determined that the sub-band allocation condition is satisfied, the sub-band can be allocated to the terminal device corresponding to the data request instruction. Among them, the sub-band allocation conditions include, but are not limited to: the current available bandwidth of the mobile device can meet the bandwidth demand for creating a new sub-band, the current available bandwidth of the mobile device can meet the bandwidth demand for creating a channel corresponding to the requested sub-band, The bandwidth requirements for creating a new sub-band can be satisfied by recycling the sub-band.

In another embodiment, if the currently available frequency band resources of the movable device cannot meet the bandwidth resources required by the data request instruction, the terminal device corresponding to the data request instruction will not be allocated a sub-band. Specifically, the above method may further include operation S531.

In operation S531, if it is determined that the sub-band allocation stop condition is satisfied, the sub-band request failure information is fed back to the terminal device corresponding to the data request instruction. In this way, it is convenient for the user to know the failure information of the sub-band request through the terminal device in time, and it is convenient for the follow-up response operation to be made in a timely manner.

In another embodiment, when the user stops using a certain occupied sub-band to receive data streams, the occupied sub-band can be recycled to facilitate resource utilization.

Specifically, the foregoing method may further include operations S541 to S545.

In operation S541, a data flow stop request instruction is received from the terminal device, and the data flow stop request instruction includes the second source identifier. Wherein, it may be the same as or different from the first source identification, for example, the second source identification is a part of the first source identification.

In operation S543, the occupied sub-band corresponding to the second source identifier is determined based on the correspondence relationship.

In operation S545, if the occupied sub-band satisfies the release condition, the occupied sub-band is released. For example, no other terminal equipment is currently using the occupied sub-band. For another example, other terminal devices are currently using the occupied sub-band, but the other terminal device allows the mobile device to release the occupied sub-band, such as based on priority or user operation input by other users on the other terminal device Indicate permission to release the occupied sub-band, etc.

For example, when the terminal device selects a source and sends a channel closing instruction from the source, the movable device closes the corresponding channel, and the released channel can be used for other tasks. Improved the problem of insufficient resources in the case of limited channels. In addition, the terminal device can also send instructions for changing the channel bandwidth, so that the total transmission bandwidth shared by multiple channels can be controlled by the user.

The data transmission method provided by the embodiments of the present disclosure allows a mobile device to transmit multiple images at the same time, and supports multi-person collaboration. And it can manage the bandwidth of multiple communication channels to ensure low delay and high bit rate of multiple images. Since multiple wireless communication links (channels) are managed at the same time, the restriction that one channel can only support one terminal device is lifted. In addition, bandwidth management, multiple remote controls and smart phones to display different screens are added, which effectively improves the data transmission capabilities of mobile devices and expands applicable application scenarios.

Another aspect of the present disclosure provides a data transmission method performed by a terminal device. The terminal device is in communication connection with the movable device, and the movable device is provided with multiple sources, and the multiple sources can separately collect information to generate a data stream corresponding to the information.

FIG. 6 is a schematic flowchart of a data transmission method provided by another embodiment of the present disclosure.

As shown in FIG. 6, the data transmission method may include operations S601 to S603.

In operation S601, a data request instruction is sent to the mobile device, where the data request instruction is used to request a data stream from at least one of the multiple sources.

In operation S603, a data stream of at least one of the multiple sources is determined from the data stream transmitted by the mobile device based on the designated frequency band.

Wherein, the designated frequency band includes one or more sub-bands, and there is a corresponding relationship between the sub-bands and the source. Regarding the data request command, source, designated frequency band, sub-band and corresponding relationship, please refer to the relevant part of the above embodiment, which will not be described in detail here.

In an embodiment, the above method may further include the following operations.

After sending the data request instruction to the movable device, the prompt message from the movable device is received.

Correspondingly, determining the data stream of at least one of the multiple sources from the data stream transmitted by the mobile device based on the designated frequency band includes: if the prompt information includes success prompt information, determining from the data stream transmitted by the mobile device based on the designated frequency band Data stream from at least one of multiple sources.

In one embodiment, the above method may further include the following operations: if the prompt information includes failure prompt information, display the failure prompt information.

In one embodiment, the above method may further include the following operations: before sending the data request instruction to the movable device, sending an access request instruction to the movable device.

Then, at least one of the following frequency band-related information from the mobile device is received: source operating status, available sub-bands, initially allocated sub-bands, used sub-bands, and sources corresponding to the used sub-bands.

Next, at least one type of frequency band related information is displayed.

In one embodiment, the terminal device includes a display screen, and the display screen is used to display at least one of the following information: image information corresponding to the data stream, prompt information, and interactive components.

FIG. 7 is a schematic diagram of a display interface of a terminal device provided by an embodiment of the disclosure.

As shown in Figure 7, after receiving the frequency band associated information from the mobile device, the terminal device can display the information shown in Figure 7: for example, which sources are available on the mobile device for the user to choose. In addition, users can also specify the required bandwidth while selecting the source. In addition, if the frequency band-related information also includes the used sub-band and the source corresponding to the used sub-band, the occupied bandwidth YY can be displayed at the input bandwidth of the corresponding source, so that the user can understand whether the occupied bandwidth YY can meet its own requirements. need. If you need a wider bandwidth (for example, greater than the currently occupied bandwidth YY), the user can try to adjust the occupied bandwidth YY to meet their own needs. As shown in Figure 7, source 1, source 2, and source 3 are mounted on the removable device. The user wants to display images corresponding to the data streams of source 1 and source 3 on the terminal device. The user specifies the bandwidth of the sub-band of source 1 as XX, and uses the currently occupied bandwidth YY corresponding to source 3. At this time, the user only needs to click confirm to complete the sending of the data request instruction to the mobile device.

It should be noted that the illustration in FIG. 7 is only for facilitating the understanding of the technical solution of the present disclosure, and cannot be understood as a limitation to the technical solution of the present disclosure.

In one embodiment, the data request instruction includes at least one of the following information: a first source identifier, an operation instruction of a sub-band corresponding to the first source identifier, and request sub-band information. Wherein, the requested sub-band information is determined based on user input.

In addition, the above method may further include the following operations: in the process of determining the data stream of at least one of the multiple sources from the data stream transmitted by the mobile device based on the designated frequency band, sending a stop data stream request instruction to the mobile device to stop the data. The stream request instruction includes the second source identifier, so that the mobile device can determine the occupied sub-band corresponding to the second source identifier based on the corresponding relationship, and if the occupied sub-band meets the release condition, the mobile device releases the occupied sub-band .

The following describes the different forms of terminal devices and their corresponding information transmission methods.

FIG. 8 is a schematic diagram of a terminal device provided by an embodiment of the disclosure.

As shown in Figure 8, the terminal device can be a remote control, which is provided with controls (a joystick, etc., the two circles in Figure 7 can be used to control the movement state of the movable device, etc.), a display screen, Processor, antenna, etc. The display screen can be a touch display screen to realize information interaction with the user. For example, the interface shown in Fig. 7 can be displayed on the display screen. The integrated terminal device has a high degree of integration, which helps to reduce the space occupation of the terminal device. In addition, the integrated terminal device can maintain a better degree of compatibility with the movable device.

In an embodiment, the terminal device may be split, including multiple independent terminals. For example, the terminal device includes a first terminal device and a second terminal device connected to the first terminal device. In addition, the first terminal device is in communication connection with the movable device. Wherein, the first terminal device and the second terminal device may be a hard-wire connection or a communication connection, which is not limited here. For example, the second terminal device may be connected to the first terminal device through a data line having an interface (such as a Type C interface, a USB interface, etc.). For another example, the second terminal device may be connected to the first terminal device through a wireless local area network or the like.

FIG. 9 is a schematic diagram of a first terminal device and a second terminal device provided by another embodiment of the present disclosure.

As shown in FIG. 9, the first terminal device is a remote control, and the second terminal device is a smart phone, and an application (APP) is installed on the smart phone to establish a connection with the remote control through an interface. Due to the better computing power and programmability of smart phones, APPs can be installed on smart phones so that users can choose operations such as source identification, input bandwidth, input source, etc., and improve user operation convenience. In addition, through this setting method, the cost of the remote control can be effectively reduced, so that users do not need to purchase expensive remote controls with higher computing capabilities, which is convenient for promotion. In addition, this solution of connecting a smart phone can also achieve the following effects: when the user only needs to control a mobile device without high computing power, the mobile device can be controlled only by the remote control, which helps reduce the terminal device’s cost. Weight and power consumption. When high computing power is required, such as viewing images, videos and other information, you can connect the user's smart phone to the remote control, and establish a connection with the remote control through the APP to achieve mobile device motion control and high computing information Processing function integration.

It should be noted that the use of a smart phone as the second terminal device is only an exemplary description, and the second terminal device may also be a tablet computer, smart glasses, a tablet computer, a notebook computer, or a desktop computer.

For example, the first terminal device may transfer the data request instruction from the second terminal device to the movable device. For another example, the first terminal device may transfer the data stream or information from the movable device to the second terminal device.

Related technologies When image transmission is performed between a remote control and a smart phone, an interface usually only supports one real-time image. If one interface supports multiple image transmissions, it will put a lot of pressure on the computing resources of the remote control. In order to solve the above-mentioned problem, in this embodiment, the first terminal device first combines the data streams received based on multiple sub-bands, so as to realize one interface to support multi-channel image transmission and reduce the pressure of computing resources of the remote control.

Specifically, the above method further includes: after determining the data stream of at least one of the multiple sources from the data streams transmitted by the mobile device based on the designated frequency band, if the data stream of at least one of the multiple sources includes multiple data streams, Then the first terminal device merges the multiple data streams into one data stream. The first terminal device performs combined transmission of real-time images (based on multiple data streams transmitted in different sub-bands), with the purpose of reducing the number of interfaces required to transmit data streams between the first terminal device and the second terminal device. After merging, only one interface is needed to transmit multiple data streams to facilitate simultaneous transmission of multiple real-time images.

For example, combining multiple data streams into one data stream by the first terminal device may include the following operations. First, add source tags to the data streams of at least one of the multiple sources. Then, concatenate multiple data streams including source tags. In addition, in order to facilitate the transmission of multiple data streams after splicing, the multiple data streams after splicing can also be encoded and packaged.

In addition, the above method may also include the following operations. After the first terminal device merges the multiple data streams into one data stream, the first terminal device sends one data stream to the second terminal device through an interface.

Since the user may request multiple images, as shown in Figure 7, the data streams of source 1 and source 3 are requested, and the user wants to view the images corresponding to the data streams of source 1 and source 3 on the smart phone. The remote controller merges the data streams of source 1 and source 3, so that the merged data stream can be transmitted to the smart phone through an interface.

In another embodiment, the method may further include the following operations. After the first terminal device sends a data stream to the second terminal device through an interface, the second terminal device splits a data stream based on the source tag. In this way, it is convenient for the second terminal device to obtain the data stream of the source required by the user from a data stream based on the source identifier.

Correspondingly, the above method may also include the following operations. After the second terminal device splits a data stream based on the source tag, the second terminal displays image information corresponding to at least part of the split data stream.

In this embodiment, the first terminal device first merges multiple data streams, and then the second terminal device splits the merged data stream to realize the splitting of real-time image data. While completing the transmission and display, it reduces the number of interfaces and the resource requirements for the remote control.

FIG. 10 is a schematic diagram of a display interface of a terminal device provided by another embodiment of the present disclosure.

As shown in Figure 10, the terminal device receives and displays the image of source 1 and the image of source 3, and displays them in real time. Users can manage multiple channels through the components in the interactive interface, such as closing one or multiple channels. In addition, the user can also switch the source and return to the previous interface by operating the components. In addition, in order to meet the needs of user diversity, you can also request to adjust the bandwidth of each sub-band. In addition, the user can also perform operations on the source through the operating components, such as adjusting the focal length of the lens, which is convenient to meet the user's needs for multiple focal length images when performing inspection tasks such as inspection tasks.

FIG. 11 is a schematic flowchart of a data transmission method provided by another embodiment of the present disclosure. The data transmission method is executed by a data transmission system. The data transmission system includes a mobile device and a plurality of terminal devices communicatively connected with the mobile device. The data stream corresponding to the information.

Specifically, the above method may include operation S1101 to operation S1105.

In operation S1101, at least one of the plurality of terminal devices sends a data request instruction to the movable device, and the data request instruction is used to request a data stream from at least one of the multiple sources.

In operation S1103, in response to a data request instruction from at least one terminal device of the plurality of terminal devices, the movable device transmits at least part of the data stream corresponding to the data request instruction of at least one terminal device of the plurality of terminal devices based on the designated frequency band.

In operation S1105, at least one of the plurality of terminal devices respectively determines a data stream corresponding to the data request instruction sent from at least part of the data stream.

First, the terminal device to be accessed sends an access request instruction to the movable device.

Then, in response to the access request instruction, the mobile device sends at least one of the following frequency band-related information to the terminal device to be accessed: source operating status, available sub-bands, initially allocated sub-bands, used sub-bands, and used sub-bands Corresponding source.

In one embodiment, the data request instruction includes at least one of the following information: a first source identifier, an operation instruction of a sub-band corresponding to the first source identifier, and request sub-band information.

In one embodiment, the requested sub-band information is the same as or different from the initially allocated sub-band.

In one embodiment, the above method may further include the following operations: after at least one of the plurality of terminal devices sends a data request instruction to the movable device, if the data request instruction includes the first source identifier, the movable device determines whether there is a data request instruction. The first source identifier corresponds to the used sub-band.

Then, if the mobile device determines that there is a used sub-band corresponding to the first source identifier, it feeds back request success information to the terminal device corresponding to the data request instruction.

In an embodiment, the data request instruction further includes request sub-band information. Correspondingly, the above method may also include the following operations.

First, if the mobile device determines that the used sub-band corresponding to the first source identifier is empty, the mobile device compares the available sub-band with the requested sub-band information to determine whether the sub-band allocation condition is satisfied.

Then, if the mobile device determines that the sub-band allocation condition is satisfied, the terminal device corresponding to the data request instruction is allocated a sub-band corresponding to the requested sub-band information.

In an embodiment, the above method may further include the following operations. If the mobile device determines that the condition for stopping allocating sub-bands is satisfied, it feeds back the sub-band request failure information to the terminal device corresponding to the data request instruction.

First, the mobile device receives a data flow stop request instruction from the terminal device, and the data flow stop request instruction includes the second source identifier.

Then, the mobile device determines the occupied sub-band corresponding to the second source identifier based on the corresponding relationship.

Then, if the mobile device determines that the occupied sub-band satisfies the release condition, the occupied sub-band is released.

In an embodiment, the above method may further include: after the terminal device sends a data request instruction to the movable device, the terminal device receives prompt information from the movable device.

Correspondingly, at least one of the plurality of terminal devices respectively determines from at least part of the data streams the data stream corresponding to the respective sent data request instruction, including: if the prompt information includes the success prompt information, at least one of the plurality of terminal devices is removable from the Among the data streams transmitted by the device based on the designated frequency band, the data streams corresponding to the data request instructions sent by each are respectively determined.

In one embodiment, the above method may further include the following operations: if the terminal device determines that the prompt information includes failure prompt information, displaying the failure prompt information.

In one embodiment, the terminal device determines the requested sub-band information based on user input.

In one embodiment, the terminal device includes a first terminal device and a second terminal device connected to the first terminal device. The first terminal device is in communication connection with the movable device.

In an embodiment, on the one hand, the first terminal device may transfer the data request instruction from the second terminal device to the movable device. On the other hand, the first terminal device can transfer the data stream or information from the movable device to the second terminal device.

In one embodiment, the above method may further include the following operations: the mobile device responds to a data request instruction from at least one terminal device among the plurality of terminal devices, and transmits data with at least one terminal device among the plurality of terminal devices based on a designated frequency band. After the at least part of the data stream corresponding to the request instruction, if the first terminal device determines that the data stream from at least one of the multiple sources includes multiple data streams, the first terminal device merges the multiple data streams into one data stream.

In an embodiment, the above method may further include the following operations: after the first terminal device combines multiple data streams into one data stream, the first terminal device sends one data stream to the second terminal device through an interface.

In one embodiment, combining multiple data streams into one data stream by the first terminal device includes the following operations. First, the first terminal device adds source tags to data streams from at least one of the multiple sources. Then, the first terminal device splices the multiple data streams including the source tag.

In an embodiment, the above method may further include the following operations: after the first terminal device sends a data stream to the second terminal device through an interface, the second terminal device splits a data stream based on the source tag.

In an embodiment, the foregoing method may further include the following operations: after the second terminal device splits a data stream based on the source tag, the second terminal displays image information corresponding to at least part of the split data stream.

In one embodiment, the source is used to collect image information.

In one embodiment, one or more sources are integrated in at least one load.

In one embodiment, the source includes at least one of a visible light lens and an infrared lens.

In one embodiment, at least one load is arranged on the movable device through the support. In addition, at least one load sends the data stream generated based on the information collected by the source to the mobile device, so that the mobile device can transmit the data stream based on the designated frequency band.

In one embodiment, the bandwidth of the sub-band is adjustable.

The following uses an embodiment to describe the entire data transmission process. For example, the drone communicates with remote control A and remote control B.

First of all, after the drone is started, the remote control A and/or the remote control B can send (or relay from the smartphone connected to the remote control A or the remote control B) data request instructions to the drone, such as (source selection instruction, Screen selection instructions, etc.), the source identification (such as the camera identification of camera 1 to camera 3) can be selected in the data request instruction. The drone will determine the current frequency band (channel) usage, and if the free channel is sufficient, it will directly deliver the data stream of the requested source.

For example, if the source of the picture requested by the remote control B is the same as that of the remote control A, and the remote control A has successfully requested the picture from the source, the drone can directly notify the remote control B of the success. The remote control B can find the picture it needs from the picture sent by the drone based on the source identification and so on.

For another example, if the source of the picture requested by the remote control B is different from that of the remote control A, and the requested source does not have a corresponding sub-band (channel), the channel occupancy needs to be increased. The UAV calculates that the current frequency band resources can meet the frequency band resources required to increase the channel, and the channel from the new source is added to realize data distribution based on the channel from the new source. After receiving the successful notification, the remote control B obtains the image of the source requested by itself in the data stream.

For another example, if the source of the picture requested by the remote control B is different from that of the remote control A, and the requested source does not have a corresponding sub-band (channel), the channel occupancy needs to be increased. The UAV calculates that the current frequency band resources cannot meet the frequency band resources required to increase the channel, and it can feedback the failure to the remote control B.

If the remote control B receives data streams from multiple sources at the same time, the data streams from multiple sources can be merged, and then the merged data streams are sent to the smart phone. After the smartphone obtains the merged and transmitted data stream, it can split the merged data stream based on the source tag, etc., to split the data stream of the source it needs, and decode the data stream of the source it needs. show.

There is no multi-channel sharing mechanism in the related technology, and when multiple remote controllers request images, they cannot support it at the same time. In the solution of this embodiment, when multiple remote controllers request data streams from the same source, only one channel is needed to simultaneously send data streams from the same source to multiple remote controllers.

The related technology does not support displaying images of data streams from different sources on multiple remote controllers. The solution of this embodiment can meet this requirement, and multiple remote controllers can freely select images of data streams from different sources and open and close channels from different sources.

The foregoing describes the methods of the embodiments of the present application in detail. In order to facilitate better implementation of the above solutions of the embodiments of the present application, correspondingly, related devices for cooperating with the implementation of the foregoing solutions are also provided below.

Another aspect of the present disclosure provides a data transmission system.

FIG. 12 is a schematic structural diagram of a data transmission system provided by an embodiment of the disclosure.

As shown in FIG. 12, the data transmission system 1200 may include a movable device 1210 and one or more terminal devices 1220 that can be communicatively connected with the movable device 1210. Wherein, the movable device 1210 executes the method executed by the mobile device as shown above, and the terminal device 1220 executes the method executed by the terminal device as shown above, which will not be repeated here.

Another aspect of the present disclosure provides a movable device.

The portable device is in communication connection with multiple terminal devices, and the portable device has multiple sources (such as mounting). The portable device includes: one or more processors, and a storage device, the storage device is used to store instructions The instructions can be implemented when executed by the processor: first, receive a data request instruction from at least one terminal device among multiple terminal devices, and the data request instruction is used to request a data stream from at least one of the multiple sources. Then, in response to the data request instruction of at least one terminal device among the plurality of terminal devices, at least part of the data stream corresponding to the data request instruction of at least one terminal device among the plurality of terminal devices is transmitted based on the designated frequency band, so that at least one of the plurality of terminal devices A terminal device determines the data stream corresponding to the data request instruction sent from at least part of the data stream. Wherein, the designated frequency band includes one or more sub-bands, and there is a corresponding relationship between the sub-bands and the source.

For another example, when the instruction is executed by the processor, it is also used to implement: receiving an access request instruction from a terminal device to be accessed; and in response to the access request instruction, sending at least one of the following frequency band related information to the terminal device to be accessed : Source working status, available sub-bands, initially allocated sub-bands, used sub-bands, and source corresponding to the used sub-bands.

In addition, the mobile device can also execute the data transmission method applied to the mobile device in the above embodiment. For details, please refer to the above-mentioned related content, which will not be repeated here.

Another aspect of the present disclosure provides a terminal device.

The terminal device is communicatively connected with the mobile device. There are multiple sources on the mobile device (such as mounting), and multiple sources can collect information separately to generate a data stream corresponding to the information. The terminal device includes: one or more processing And storage device. The storage device is used to store instructions, and the instructions are implemented when executed by the processor: first, a data request instruction is sent to the portable device, and the data request instruction is used to request a data stream from at least one of multiple sources. Then, a data stream from at least one of the multiple sources is determined from the data stream transmitted by the mobile device based on the designated frequency band. Wherein, the designated frequency band includes one or more sub-bands, and there is a corresponding relationship between the sub-bands and the source.

For another example, when the instruction is executed by the processor, it is also used to implement: after sending a data request instruction to the mobile device, receiving prompt information from the mobile device; and determining the number of data streams transmitted by the mobile device based on the designated frequency band The data stream of at least one of the sources includes: if the prompt information includes the success prompt information, the data stream of at least one of the multiple sources is determined from the data streams transmitted by the mobile device based on the designated frequency band.

For another example, when the instruction is executed by the processor, it is also used to implement: before sending the data request instruction to the mobile device, send an access request instruction to the mobile device; and receive at least one of the following frequency band associated information from the mobile device : Source working status, available sub-bands, initially allocated sub-bands, used sub-bands, and sources corresponding to the used sub-bands; and display at least one type of band-related information.

In addition, the terminal device may also execute the data transmission method applied to the terminal device in the above embodiment. For details, please refer to the above-mentioned related content, which will not be repeated here.

The mobile device and the terminal device can be two independent electronic devices. The structure of the electronic device is exemplified below.

FIG. 13 is a schematic structural diagram of an electronic device provided by an embodiment of the disclosure.

As shown in FIG. 13, the electronic device 1300 may include:

One or more processors 1310 and a computer storage medium 1320 are used to store one or more computer programs 1321, and the computer programs 1321, when executed by the processor 1310, implement the method shown above.

For example, when the computer program 1321 is executed by the processor 1310, it realizes: receiving a data request instruction from at least one terminal device among a plurality of terminal devices, the data request instruction being used to request a data stream from at least one of the multiple sources; and responding to The data request instruction of at least one terminal device among the plurality of terminal devices transmits at least part of the data stream corresponding to the data request instruction of at least one terminal device of the plurality of terminal devices based on the designated frequency band, so that at least one of the plurality of terminal devices separately receives data from at least one terminal device. Part of the data stream determines the data stream corresponding to the data request instruction sent respectively; wherein, the designated frequency band includes one or more sub-bands, and there is a corresponding relationship between the sub-bands and the source. In addition, when the computer program 1321 is executed by the processor 1310, it can also implement other data transmission methods applied to the mobile device in the above embodiment. For details, please refer to the above-mentioned related content, which will not be repeated here.

For another example, when the computer program 1321 is executed by the processor 1310, it realizes: sending a data request instruction to a mobile device, which is used to request a data stream from at least one of multiple sources; and transmitting from the mobile device based on a designated frequency band Determine the data stream of at least one of the multiple sources in the data stream; wherein, the designated frequency band includes one or more sub-bands, and there is a corresponding relationship between the sub-bands and the sources. In addition, when the computer program 1321 is executed by the processor 1310, it can also implement other data transmission methods applied to the terminal device in the above embodiment. For details, please refer to the above related content, which will not be repeated here.

Specifically, the processor 1310 may include, for example, a general-purpose microprocessor, an instruction set processor, and/or a related chipset and/or a special-purpose microprocessor (for example, an application specific integrated circuit (ASIC)), and so on. The processor 1310 may also include on-board memory for caching purposes. The processor 1310 may be a single processing unit or multiple processing units for executing different actions of a method flow according to an embodiment of the present disclosure.

In some embodiments, the electronic device is a movable device as an example for description. The processor 1310 may be connected to a control module to control the state of the movable device. For example, the control module can be used to control the power mechanism of the movable device to adjust the spatial orientation, speed and/or acceleration of the movable device with respect to six degrees of freedom. Alternatively or in combination, the control module may control one or more of the carrier, the load or the sensing module.

In some embodiments, the electronic device is an example of a terminal device. The processor 1310 may be connected to one or more input modules, and each input module may include one or more input mechanisms to receive user input Input generated by the module. The input mechanism includes one or more joysticks, switches, knobs, sliding switches, buttons, dials, touch screens, keypads, keyboards, mice, voice control, gesture control, inertial modules, etc. The input module can be used to receive user input, and the input is used to control the movable device, the carrier, the load, or any aspect of the components therein. Any aspect includes attitude, position, direction, flight, tracking, etc. For example, the input mechanism may be that the user manually sets one or more positions, and each position corresponds to a preset input to control the movable device.

In some embodiments, the input mechanism of the terminal device can be operated by the user to input control instructions to control the movement of the movable device. For example, the user can use a knob, switch or similar input mechanism to input the movement mode of the movable device, such as automatic flight, automatic driving, or movement according to a preset movement path. For another example, the user can tilt the terminal device in a certain method to control the position, posture, direction, or other aspects of the movable device. The tilt of the terminal device can be detected by one or more inertial sensors and generate corresponding motion instructions. For another example, the user can use the aforementioned input mechanism to adjust the operating parameters of the load (such as zoom), the posture of the load (via the carrier), or other aspects of any object on the movable device.

In some embodiments, the input module can be operated by the user to input operation instructions and the like. For example, the user can use a knob, switch or similar input module to select the appropriate image. In various embodiments, the input module may be implemented by more than one device. For example, the input module can be executed by a standard remote controller with a joystick. A standard remote controller with a joystick is connected to a mobile device (such as a smart phone) running a suitable application program ("app") to generate control instructions for the movable device. The app can be used to get user input.

The computer storage medium 1320, for example, may be a non-volatile computer readable storage medium. Specific examples include but are not limited to: magnetic storage devices, such as magnetic tape or hard disk (HDD); optical storage devices, such as optical disk (CD-ROM); memory , Such as random access memory (RAM) or flash memory and so on.

The computer storage medium 1320 may include a program 1321, and the program 1321 may include code/computer instructions, which when executed by the processor 1310 cause the processor 1310 to execute the method according to the embodiment of the present disclosure or any modification thereof.

The program 1321 may be configured to have, for example, computer program code including computer program modules. For example, in an exemplary embodiment, the code in the program 1321 may include one or more program modules, such as a first program module, a second program module,... It should be noted that the division and number of program modules are not fixed. Those skilled in the art can use appropriate program modules or program module combinations according to actual conditions. When these program module combinations are executed by the processor 1310, the processor 1310 The method according to the embodiment of the present disclosure or any modification thereof can be performed.

The embodiments of the present application also provide a computer storage medium, including instructions, which when run on a computer, cause the computer to execute one or more steps in any of the above methods.

The embodiments of the present application also provide a computer program product including instructions, which when the instructions (such as executable instructions) are executed on a computer, cause the computer to execute one or more steps in any of the above-mentioned methods. When the above-mentioned computer program product is sold or used as an independent product, it can be stored in a computer storage medium.

In the above embodiments, it may be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented by software, it can be implemented in the form of a computer program product in whole or in part. The computer program product includes one or more instructions. When the instructions of the computer program product are loaded and executed on the computer, the processes or functions according to the embodiments of the present application are generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions can be stored in a computer-readable storage medium or transmitted through a computer-readable storage medium. Computer instructions can be sent from one website site, computer, server, or data center to another website site, computer via wired (such as coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (such as infrared, wireless, microwave, etc.) , Server or data center for transmission. The computer-readable storage medium may be any available medium that can be accessed by a computer or a data storage device such as a server or a data center integrated with one or more available media. The usable medium may be a magnetic medium (for example, a floppy disk, a hard disk, and a magnetic tape), an optical medium (for example, a DVD), or a semiconductor medium (for example, a solid state disk (SSD)).

A person of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be implemented by instructing relevant hardware through a computer program. The above-mentioned program can be stored in a computer readable storage medium. When executed, it may include the procedures of the above-mentioned method embodiments.

Among them, the aforementioned storage medium may be a magnetic disk, an optical disc, a read-only memory (Read-Only Memory, ROM), or a random storage memory RAM, etc. In the case of no conflict, the technical features in this embodiment and the implementation can be combined arbitrarily.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present disclosure, but not to limit them; although the present disclosure has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand: It is still possible to modify the technical solutions described in the foregoing embodiments, or equivalently replace some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present disclosure .

Claims

A data transmission method applied to a portable device, characterized in that the portable device is communicatively connected with multiple terminal devices, and multiple sources are set on the portable device, and the method includes:

Receiving a data request instruction from at least one terminal device of the plurality of terminal devices, the data request instruction being used to request a data stream from at least one of the plurality of sources; and

In response to the data request instruction of at least one terminal device among the plurality of terminal devices, at least part of the data stream corresponding to the data request instruction of at least one terminal device among the plurality of terminal devices is transmitted based on the designated frequency band, so that the plurality of At least one of the terminal devices determines from the at least part of the data streams a data stream corresponding to the data request instruction sent by each;

Wherein, the designated frequency band includes one or more sub-bands, and there is a corresponding relationship between the sub-bands and the source.
The method according to claim 1, wherein the method further comprises:

Receiving an access request instruction from a terminal device to be accessed; and

In response to the access request instruction, at least one of the following frequency band-related information is sent to the terminal device to be accessed: source operating status, available sub-bands, initially allocated sub-bands, used sub-bands, corresponding to used sub-bands origin of.
The method according to claim 2, wherein the data request instruction includes at least one of the following information: a first source identifier, an operation instruction of a sub-band corresponding to the first source identifier, and request sub-band information.
The method according to claim 3, wherein the requested sub-band information is the same as or different from the initially allocated sub-band information.
The method according to claim 3, wherein the method further comprises: after receiving a data request instruction from at least one terminal device of the plurality of terminal devices,

If the data request instruction includes a first source identifier, determining whether there is a used sub-band corresponding to the first source identifier; and

If it is determined that there is a used sub-band corresponding to the first source identifier, the request success information is fed back to the terminal device corresponding to the data request instruction.
The method according to claim 5, wherein the data request instruction further includes requesting sub-band information;

The method also includes:

If it is determined that the used sub-band corresponding to the first source identifier is empty, comparing the available sub-band information with the requested sub-band information to determine whether the sub-band allocation condition is satisfied; and

If it is determined that the sub-band allocation condition is satisfied, the terminal device corresponding to the data request instruction is allocated the sub-band corresponding to the requested sub-band information.
The method according to claim 6, wherein the method further comprises:

If it is determined that the condition for stopping allocating the sub-band is satisfied, the sub-band request failure information is fed back to the terminal device corresponding to the data request instruction.
The method according to claim 1, wherein the method further comprises:

Receiving a stop data flow request instruction from the terminal device, where the stop data flow request instruction includes a second source identifier; and

Determine the occupied sub-band corresponding to the second source identifier based on the correspondence relationship; and

If the occupied sub-band meets the release condition, the occupied sub-band is released.
The method of claim 1, wherein the source is used to collect image information.
The method of claim 1, wherein one or more of the sources are integrated in at least one load.
The method according to claim 10, wherein the source includes at least one of a visible light lens and an infrared lens.
The method according to claim 10, wherein the at least one load is set on the movable device through a support body; and

The at least one load sends a data stream generated based on the information collected by the source to the mobile device, so that the mobile device can transmit the data stream based on the designated frequency band.
The method according to claim 1, wherein the bandwidth of the sub-band is adjustable.
A data transmission method, applied to a terminal device, characterized in that the terminal device is communicatively connected with a movable device, the movable device is provided with multiple sources, and the multiple sources can collect information separately to generate and For the data stream corresponding to the information, the method includes:

Sending a data request instruction to the portable device, the data request instruction being used to request a data stream from at least one of the multiple sources; and

Determining a data stream of at least one of the multiple sources from data streams transmitted by the mobile device based on a designated frequency band;

Wherein, the designated frequency band includes one or more sub-bands, and there is a corresponding relationship between the sub-bands and the source.
The method according to claim 14, wherein the method further comprises: after sending a data request instruction to the mobile device,

Receiving prompt information from the mobile device; and

The determining the data stream of at least one of the multiple sources from the data stream transmitted by the mobile device based on the designated frequency band includes: if the prompt information includes success prompt information, from the mobile device based on the designated frequency A data stream from at least one of the multiple sources is determined from the data stream transmitted in the frequency band.
The method according to claim 15, wherein the method further comprises:

If the prompt information includes failure prompt information, the failure prompt information is displayed.
The method according to claim 14, wherein the method further comprises: before sending a data request instruction to the mobile device,

Sending an access request instruction to the mobile device; and

Receiving at least one of the following frequency band-related information from the mobile device: source operating status, available sub-bands, initially allocated sub-bands, used sub-bands, and sources corresponding to the used sub-bands; and

The at least one frequency band related information is displayed.
The method according to claim 14, wherein the data request instruction includes at least one of the following information: a first source identifier, an operation instruction of a sub-band corresponding to the first source identifier, and request sub-band information.
The method according to claim 18, wherein the requested sub-band information is determined based on user input.
The method according to claim 14, wherein the method further comprises: in the process of determining the data stream of at least one of the multiple sources from the data stream transmitted by the mobile device based on the designated frequency band, Send a data flow stop request instruction to the mobile device, where the data flow stop request instruction includes a second source identifier, so that the mobile device can determine the occupied data corresponding to the second source identifier based on the corresponding relationship If the occupied sub-band satisfies the release condition, the movable device releases the occupied sub-band.
The method according to claim 14, wherein the terminal device comprises a first terminal device and a second terminal device connected to the first terminal device; and

The first terminal device is in communication connection with the movable device.
The method according to claim 21, wherein:

The first terminal device transfers the data request instruction from the second terminal device to the movable device; and/or

The first terminal device transfers the data stream or information from the movable device to the second terminal device.
The method according to claim 21, further comprising: after determining a data stream from at least one of the multiple sources from the data stream transmitted by the mobile device based on a designated frequency band,

If the data stream of at least one of the multiple sources includes multiple data streams, the first terminal device merges the multiple data streams into one data stream.
The method according to claim 23, wherein the method further comprises: after the first terminal device merges the multiple data streams into one data stream,

The first terminal device sends the one data stream to the second terminal device through an interface.
The method according to claim 23, wherein the first terminal device merging the multiple data streams into one data stream comprises:

Adding source tags to the data streams of at least one of the multiple sources; and

Concatenating multiple data streams including the source tag.
The method according to claim 24, wherein the method further comprises: after the first terminal device sends the one data stream to the second terminal device through an interface,

The second terminal device splits the one data stream based on the source tag.
The method according to claim 26, wherein the method further comprises: after the second terminal device splits the one data stream based on the source tag,

The second terminal displays image information corresponding to at least part of the data stream obtained by splitting.
A data transmission method applied to a data transmission system, characterized in that the data transmission system includes a movable device and a plurality of terminal devices communicatively connected with the movable device, and a plurality of terminal devices are provided on the movable device. Sources, the multiple sources may separately collect information to generate a data stream corresponding to the information, and the method includes:

At least one of the plurality of terminal devices sends a data request instruction to the movable device, where the data request instruction is used to request a data stream from at least one of the multiple sources;

In response to a data request instruction from at least one terminal device of the plurality of terminal devices, the movable device transmits at least part of the data stream corresponding to the data request instruction of at least one terminal device of the plurality of terminal devices based on a designated frequency band ;as well as

At least one of the plurality of terminal devices respectively determines from the at least part of the data streams a data stream corresponding to the data request instruction sent by each;

Wherein, the designated frequency band includes one or more sub-bands, and there is a corresponding relationship between the sub-bands and the source.
The method according to claim 28, wherein the method further comprises:

The terminal device to be accessed sends an access request instruction to the mobile device; and

In response to the access request instruction, the mobile device sends at least one of the following frequency band-related information to the terminal device to be accessed: source working status, available sub-bands, initially allocated sub-bands, used sub-bands, and The source corresponding to the used sub-band.
The method according to claim 29, wherein the data request instruction includes at least one of the following information: a first source identifier, an operation instruction of a sub-band corresponding to the first source identifier, and request sub-band information.
The method according to claim 30, wherein the requested sub-band information is the same as or different from the initially allocated sub-band information.
The method according to claim 30, wherein the method further comprises: after at least one of the plurality of terminal devices sends a data request instruction to the movable device,

If the data request instruction includes a first source identifier, the movable device determines whether there is a used sub-band corresponding to the first source identifier; and

If the mobile device determines that there is a used sub-band corresponding to the first source identifier, it feeds back request success information to the terminal device corresponding to the data request instruction.
The method according to claim 32, wherein the data request instruction further comprises requesting sub-band information;

The method also includes:

If the mobile device determines that the used sub-band corresponding to the first source identifier is empty, the mobile device compares the available sub-band with the requested sub-band information to determine whether the allocation of the sub-band is satisfied Conditions; and

If the mobile device determines that the sub-band allocation condition is satisfied, the terminal device corresponding to the data request instruction is allocated a sub-band corresponding to the requested sub-band information.
The method according to claim 33, wherein the method further comprises:

If the mobile device determines that the condition for stopping allocating the sub-band is satisfied, then the sub-band request failure information is fed back to the terminal device corresponding to the data request instruction.
The method according to claim 28, wherein the method further comprises:

The mobile device receives a data flow stop request instruction from a terminal device, and the data flow stop request instruction includes a second source identifier; and

The mobile device determines the occupied sub-band corresponding to the second source identifier based on the correspondence relationship; and

If the mobile device determines that the occupied sub-band satisfies the release condition, release the occupied sub-band.
The method according to claim 28, wherein the method further comprises: after the terminal device sends a data request instruction to the mobile device,

The terminal device receives the prompt information from the movable device; and

The at least one of the plurality of terminal devices respectively determining from the at least part of the data streams the data stream corresponding to the data request instruction sent respectively includes: if the prompt information includes the success prompt information, then among the plurality of terminal devices At least one data stream corresponding to the data request instruction sent by the mobile device is determined respectively from the data stream transmitted based on the designated frequency band.
The method according to claim 36, wherein the method further comprises:

If the terminal device determines that the prompt information includes failure prompt information, display the failure prompt information.
The method according to claim 30, wherein the terminal device determines the requested sub-band information based on user input.
The method according to claim 28, wherein the terminal device comprises a display screen, and the display screen is configured to display at least one of the following information: image information corresponding to the data stream, prompt information, and interactive components.
The method according to claim 28, wherein the terminal device comprises a first terminal device and a second terminal device connected to the first terminal device; and

The first terminal device is in communication connection with the movable device.
The method of claim 40, wherein:

The first terminal device transfers the data request instruction from the second terminal device to the movable device; and/or

The first terminal device transfers the data stream or information from the movable device to the second terminal device.
The method according to claim 40, characterized in that the method further comprises: the mobile device responds to a data request instruction from at least one terminal device among the plurality of terminal devices, and transmits and communicates with the mobile device based on a designated frequency band. After at least part of the data stream corresponding to the data request instruction of at least one terminal device among the plurality of terminal devices,

If the first terminal device determines that the data stream of at least one of the multiple sources includes multiple data streams, the first terminal device merges the multiple data streams into one data stream.
The method according to claim 42, wherein the method further comprises: after the first terminal device merges the multiple data streams into one data stream,

The first terminal device sends the one data stream to the second terminal device through an interface.
The method according to claim 42, wherein the first terminal device to merge the multiple data streams into one data stream comprises:

The first terminal device adds a source tag to the data stream of at least one of the multiple sources respectively; and

The first terminal device splices multiple data streams including the source tag.
The method according to claim 43, wherein the method further comprises: after the first terminal device sends the one data stream to the second terminal device through an interface,

The second terminal device splits the one data stream based on the source tag.
The method according to claim 43, further comprising: after the second terminal device splits the one data stream based on the source tag,

The second terminal displays image information corresponding to at least part of the data stream obtained by splitting.
The method of claim 28, wherein the source is used to collect image information.
The method of claim 28, wherein one or more of the sources are integrated in at least one load.
The method of claim 48, wherein the source includes at least one of a visible light lens and an infrared lens.
The method according to claim 48, wherein the at least one load is set on the movable device through a support body;

The at least one load sends a data stream generated based on the information collected by the source to the mobile device, so that the mobile device can transmit the data stream based on the designated frequency band.
The method according to claim 28, wherein the bandwidth of the sub-band is adjustable.
A data transmission system, characterized in that, the data transmission system includes:

A mobile device that executes the method according to any one of claims 1 to 13; and

A terminal device that executes the method according to any one of claims 14-27.
A movable device, characterized in that, the movable device is communicatively connected with a plurality of terminal devices, the movable device is provided with a plurality of sources, and the movable device includes:

One or more processors;

The storage device is used to store instructions, and when the instructions are executed by the processor, they realize:

Receiving a data request instruction from at least one terminal device of the plurality of terminal devices, the data request instruction being used to request a data stream from at least one of the plurality of sources; and

In response to the data request instruction of at least one terminal device among the plurality of terminal devices, at least part of the data stream corresponding to the data request instruction of at least one terminal device among the plurality of terminal devices is transmitted based on the designated frequency band, so that the plurality of At least one of the terminal devices determines from the at least part of the data streams a data stream corresponding to the data request instruction sent by each;

Wherein, the designated frequency band includes one or more sub-bands, and there is a corresponding relationship between the sub-bands and the source.
The mobile device according to claim 53, wherein the instruction is further used to implement when being executed by the processor:

Receiving an access request instruction from a terminal device to be accessed; and

In response to the access request instruction, at least one of the following frequency band-related information is sent to the terminal device to be accessed: source operating status, available sub-bands, initially allocated sub-bands, used sub-bands, corresponding to used sub-bands origin of.
The mobile device according to claim 54, wherein the data request instruction includes at least one of the following information: a first source identifier, a sub-band operation instruction corresponding to the first source identifier, and request sub-band information.
The mobile device according to claim 55, wherein the requested sub-band information is the same as or different from the initially allocated sub-band information.
The mobile device according to claim 55, wherein, when the instruction is executed by the processor, it is further used to implement: after receiving a data request instruction from at least one terminal device of the plurality of terminal devices ,

If the data request instruction includes a first source identifier, determining whether there is a used sub-band corresponding to the first source identifier; and

If it is determined that there is a used sub-band corresponding to the first source identifier, the request success information is fed back to the terminal device corresponding to the data request instruction.
The mobile device according to claim 57, wherein the data request instruction further includes requesting sub-band information;

When the instructions are executed by the processor, they are also used to implement:

If it is determined that the used sub-band corresponding to the first source identifier is empty, comparing the available sub-band information with the requested sub-band information to determine whether the sub-band allocation condition is satisfied; and

If it is determined that the sub-band allocation condition is satisfied, the terminal device corresponding to the data request instruction is allocated the sub-band corresponding to the requested sub-band information.
The mobile device according to claim 58, wherein the instruction is further used to implement when being executed by the processor:

If it is determined that the condition for stopping allocating the sub-band is satisfied, the sub-band request failure information is fed back to the terminal device corresponding to the data request instruction.
The mobile device according to claim 53, wherein the instruction is further used to implement when being executed by the processor:

Receiving a stop data flow request instruction from the terminal device, where the stop data flow request instruction includes a second source identifier; and

Determine the occupied sub-band corresponding to the second source identifier based on the correspondence relationship; and

If the occupied sub-band meets the release condition, the occupied sub-band is released.
The mobile device of claim 53, wherein the source is used to collect image information.
The mobile device of claim 53, wherein one or more of the sources are integrated in at least one load.
The movable device according to claim 62, wherein the source includes at least one of a visible light lens and an infrared lens.
The movable device according to claim 62, wherein the at least one load is provided on the movable device through a support body; and

The at least one load sends a data stream generated based on the information collected by the source to the mobile device, so that the mobile device can transmit the data stream based on the designated frequency band.
The mobile device according to claim 53, wherein the bandwidth of the sub-band is adjustable.
A terminal device, characterized in that the terminal device is communicatively connected with a movable device, the movable device is provided with multiple sources, and the multiple sources can collect information respectively to generate data corresponding to the information Stream, the terminal device includes:

One or more processors;

The storage device is used to store instructions, and when the instructions are executed by the processor, they realize:

Sending a data request instruction to the portable device, the data request instruction being used to request a data stream from at least one of the multiple sources; and

Determining a data stream of at least one of the multiple sources from data streams transmitted by the mobile device based on a designated frequency band;

Wherein, the designated frequency band includes one or more sub-bands, and there is a corresponding relationship between the sub-bands and the source.
The terminal device according to claim 66, wherein, when the instruction is executed by the processor, it is further used to implement: after sending a data request instruction to the movable device,

Receiving prompt information from the mobile device; and

The determining the data stream of at least one of the multiple sources from the data stream transmitted by the mobile device based on the designated frequency band includes: if the prompt information includes success prompt information, from the mobile device based on the designated frequency A data stream from at least one of the multiple sources is determined from the data stream transmitted in the frequency band.
The terminal device according to claim 67, wherein the instruction is further used to implement when being executed by the processor:

If the prompt information includes failure prompt information, the failure prompt information is displayed.
The terminal device according to claim 66, wherein, when the instruction is executed by the processor, it is further used to implement: before sending a data request instruction to the movable device,

Sending an access request instruction to the mobile device; and

Receiving at least one of the following frequency band-related information from the mobile device: source operating status, available sub-bands, initially allocated sub-bands, used sub-bands, and sources corresponding to the used sub-bands; and

The at least one frequency band related information is displayed.
The terminal device according to claim 66, wherein the data request instruction includes at least one of the following information: a first source identifier, an operation instruction of a sub-band corresponding to the first source identifier, and request sub-band information.
The terminal device according to claim 70, wherein the requested sub-band information is determined based on user input.
The terminal device according to claim 66, wherein, when the instructions are executed by the processor, the instructions are further used to implement: determine the multiple sources from a data stream transmitted by the mobile device based on a designated frequency band In the process of data flow from at least one source,

Send a stop data flow request instruction to the mobile device, where the stop data flow request instruction includes a second source identifier, so that the mobile device can determine the occupied data corresponding to the second source identifier based on the corresponding relationship If the occupied sub-band satisfies the release condition, the movable device releases the occupied sub-band.
The terminal device according to claim 66, wherein the terminal device comprises a first terminal device and a second terminal device connected to the first terminal device; and

The first terminal device is in communication connection with the movable device.
The terminal device according to claim 73, wherein:

The first terminal device transfers the data request instruction from the second terminal device to the movable device; and/or

The first terminal device transfers the data stream or information from the movable device to the second terminal device.
The terminal device according to claim 73, wherein the instructions, when executed by the processor, are further used to implement: determine the multiple sources from a data stream transmitted by the mobile device based on a designated frequency band After the data stream from at least one source in

If the data stream of at least one of the multiple sources includes multiple data streams, the first terminal device merges the multiple data streams into one data stream.
The terminal device according to claim 75, wherein, when the instruction is executed by the processor, it is further used to implement: after the first terminal device merges the multiple data streams into one data stream ,

The first terminal device sends the one data stream to the second terminal device through an interface.
The terminal device according to claim 75, wherein the first terminal device merging the multiple data streams into one data stream comprises:

Adding source tags to the data streams of at least one of the multiple sources; and

Concatenating multiple data streams including the source tag.
The terminal device according to claim 76, wherein, when the instruction is executed by the processor, it is further used to realize: sending the one data stream to the first terminal device through an interface. After the second terminal device,

The second terminal device splits the one data stream based on the source tag.
The terminal device according to claim 78, wherein the instruction when executed by the processor is further used to implement: after the second terminal device splits the one data stream based on the source tag ,

The second terminal displays image information corresponding to at least part of the data stream obtained by splitting.
A computer storage medium, characterized by comprising instructions, which when run on a computer, causes the computer to execute the method according to any one of claims 1 to 51.
A computer program product comprising instructions, wherein when the instructions are executed on a computer, the computer is caused to execute the method according to any one of claims 1 to 51.