WO2022141316A1

WO2022141316A1 - Image transmission method, movable platform, device, system and readable storage medium

Info

Publication number: WO2022141316A1
Application number: PCT/CN2020/141842
Authority: WO
Inventors: 马宁; 尹小俊; 陈颖
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2020-12-30
Filing date: 2020-12-30
Publication date: 2022-07-07

Abstract

An image transmission method, a movable platform, a device, a system, and a readable storage medium. Said method comprises: performing scalable coding on an initial image frame photographed by a photographing apparatus, so as to obtain a multi-layer code stream, the multi-layer code stream including a base layer code stream and an enhancement layer code stream (S101); transmitting, by means of a first wireless communication manner, a first part of the multi-layer code stream to a terminal device, the first part of the code stream at least including the base layer code stream (S102); and transmitting, by means of a second wireless communication manner, a second part of the multi-layer code stream to the terminal device, the second part of the code stream at least including the enhancement layer code stream, and a first transmission delay corresponding to the first wireless communication manner being less than a second transmission delay corresponding to the second wireless communication manner (S103). Said method can improve user experience.

Description

Image transmission method, removable platform, device, system, and readable storage medium

technical field

The present application relates to the technical field of wireless image transmission, and in particular, to an image transmission method, a movable platform, a device, a system, and a readable storage medium.

Background technique

At present, the movable platform can transmit the image back to the terminal device through wireless communication, and the terminal device can display it, which is convenient for the user to control the movable platform based on the displayed image. The image transmission between the movable platform and the terminal device is mainly through private realized by means of communication. Although the private communication method has the advantage of low delay, the image quality cannot be guaranteed. Therefore, it is difficult to realize the image transmission using a single wireless communication method to meet the user's requirements for various performance indicators such as delay and image quality.

SUMMARY OF THE INVENTION

Based on this, the embodiments of the present application provide an image transmission method, a movable platform, a device, a system, and a readable storage medium, which aim to ensure that wireless image transmission can meet user requirements for various performance indicators such as time delay and image quality. , to improve the user experience.

In a first aspect, an embodiment of the present application provides an image transmission method, which is applied to a movable platform, the movable platform includes a photographing device, and the movable platform can communicate with the The terminal device communicates, and the method includes:

Perform hierarchical coding on the initial image frame captured by the photographing device to obtain a multi-layer code stream, wherein the multi-layer code stream includes a base layer code stream and an enhancement layer code stream;

Transmitting a first partial code stream in the multi-layer code stream to the terminal device by using the first wireless communication method, wherein the first partial code stream at least includes the base layer code stream;

transmitting the second partial code stream in the multi-layer code stream to the terminal device by using the second wireless communication method, wherein the second partial code stream includes at least the enhancement layer code stream;

Wherein, the first transmission delay corresponding to the first wireless communication mode is smaller than the second transmission delay corresponding to the second wireless communication mode.

In a second aspect, the embodiments of the present application further provide an image transmission method, which is applied to a terminal device, where the terminal device can communicate with a movable platform through a first wireless communication manner and a second wireless communication manner, and the movable The platform includes a photographing device, and the movable platform can perform hierarchical coding on the initial image frame photographed by the photographing device to obtain a multi-layer code stream, and the multi-layer code stream includes a base layer code stream and an enhancement layer code stream, and the Methods include:

acquiring a first partial code stream in the multi-layer code stream transmitted by the mobile platform based on the first wireless communication manner, wherein the first partial code stream includes at least the base layer code stream;

acquiring a second partial code stream in the multi-layer code stream transmitted by the movable platform based on the second wireless communication manner, wherein the second partial code stream includes at least the enhancement layer code stream;

Decoding the first partial code stream to obtain a first image frame, and displaying the first image frame;

Decoding the second partial code stream to obtain a second image frame, and outputting the second image frame;

In a third aspect, an embodiment of the present application further provides a movable platform, where the movable platform can communicate with a terminal device through a first wireless communication manner and a second wireless communication manner;

the movable platform includes a camera, a memory and a processor;

the memory is used to store computer programs;

The processor is configured to execute the computer program and implement the following steps when executing the computer program:

In a fourth aspect, an embodiment of the present application further provides a terminal device, the terminal device can communicate with a movable platform through a first wireless communication manner and a second wireless communication manner, the movable platform includes a photographing device, and the The movable platform can perform hierarchical coding on the initial image frame captured by the photographing device to obtain a multi-layer code stream, the multi-layer code stream includes a base layer code stream and an enhancement layer code stream, and the terminal device includes a memory and a processing device;

the memory is used to store computer programs;

In a fifth aspect, an embodiment of the present application further provides an image transmission system, the image transmission system includes the above-mentioned movable platform and the above-mentioned terminal device, and the movable platform can communicate through the first wireless communication method. and the second wireless communication mode to communicate with the terminal device.

In a sixth aspect, an embodiment of the present application further provides a computer-readable storage medium, where the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the processor implements the above-mentioned The steps of the image transmission method.

The embodiments of the present application provide an image transmission method, a movable platform, a device, a system, and a readable storage medium. By performing hierarchical encoding on an initial image frame, a multi-layer code stream including a base layer code stream and an enhancement layer code stream is obtained. , transmit at least the first part of the multi-layer code stream including the base layer code stream to the terminal device through a first wireless communication method with a small transmission delay, and transmit to the terminal device through a second wireless communication method with a large transmission delay The multi-layer code stream includes at least the second part of the code stream of the enhancement layer. Since the base layer code stream can be decoded without referring to other layer code streams, transmitting the base layer code stream to the terminal device through the first wireless communication method with small transmission delay can meet the low-latency requirement scenarios, while enhancing the The image quality of the up-code stream is relatively high. Therefore, the enhanced up-code stream is transmitted through the second wireless communication method with a large transmission delay, which can meet the scenes with high image quality requirements, and can meet the user's delay in wireless image transmission, image quality, etc. The requirements of various performance indicators greatly improve the user experience.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not limiting of the present application.

Description of drawings

In order to explain the technical solutions of the embodiments of the present application more clearly, the following briefly introduces the accompanying drawings used in the description of the embodiments. For those of ordinary skill, other drawings can also be obtained from these drawings without any creative effort.

FIG. 1 is a schematic diagram of a scene for implementing the image transmission method provided by the embodiment of the present application;

2 is a schematic flowchart of steps of an image transmission method provided by an embodiment of the present application;

3 is a schematic flowchart of steps of another image transmission method provided by an embodiment of the present application;

4 is a schematic structural block diagram of a movable platform provided by an embodiment of the present application;

FIG. 5 is a schematic structural block diagram of a terminal device provided by an embodiment of the present application;

FIG. 6 is a schematic structural block diagram of an image transmission system provided by an embodiment of the present application.

Detailed ways

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

The flowcharts shown in the figures are for illustration only, and do not necessarily include all contents and operations/steps, nor do they have to be performed in the order described. For example, some operations/steps can also be decomposed, combined or partially combined, so the actual execution order may be changed according to the actual situation.

Some embodiments of the present application will be described in detail below with reference to the accompanying drawings. The embodiments described below and features in the embodiments may be combined with each other without conflict.

In order to solve the above problems, the embodiment of the present application provides an image transmission method, which obtains a multi-layer code stream including a base layer code stream and an enhancement layer code stream by performing hierarchical encoding on an initial image frame, and obtains a multi-layer code stream including a base layer code stream and an enhancement layer code stream. A wireless communication method transmits at least the first part of the multi-layer code stream to the terminal device in the multi-layer code stream, and transmits at least the first part of the multi-layer code stream to the terminal device through a second wireless communication method with a large transmission delay. The second part of the code stream of the enhancement layer. Since the base layer code stream can be decoded without referring to other layer code streams, transmitting the base layer code stream to the terminal device through the first wireless communication method with small transmission delay can meet the low-latency requirement scenarios, while enhancing the The image quality of the up-code stream is relatively high. Therefore, the enhanced up-code stream is transmitted through the second wireless communication method with a large transmission delay, which can meet the scenes with high image quality requirements, and can meet the user's delay in wireless image transmission, image quality, etc. The requirements of various performance indicators greatly improve the user experience.

Please refer to FIG. 1. FIG. 1 is a schematic diagram of a scene for implementing the image transmission method provided by the embodiment of the present application. As shown in FIG. 1 , the scenario includes a movable platform 100 and a terminal device 200. The movable platform 100 can communicate with the terminal device 200 through the first wireless communication mode and the second wireless communication mode. The terminal device 200 is used to control the movable platform. Platform 100. The movable platform 100 includes a platform body 110, a power system 120 provided on the platform body 110, a photographing device 130 and a control system (not shown in FIG. 1 ), and the power system 120 is used to provide moving power for the movable platform 100, The photographing device 130 is used for capturing initial image frames.

The power system 120 may include one or more propellers 121 , one or more motors 122 corresponding to the one or more propellers, and one or more electronic governors (referred to as ESCs for short). Wherein, the motor 122 is connected between the electronic governor and the propeller 121, and the motor 122 and the propeller 121 are arranged on the platform body 110 of the movable platform 100; the electronic governor is used for receiving the driving signal generated by the control system, and according to the driving signal A driving current is provided to the motor 122 to control the rotational speed of the motor 122 . The motor 122 is used to drive the propeller 121 to rotate, thereby providing power for the movement of the movable platform 100, and the power enables the movable platform 100 to achieve one or more degrees of freedom movement. In certain embodiments, the movable platform 100 may rotate about one or more axes of rotation. For example, the above-mentioned rotation axes may include a roll axis, a yaw axis, and a pitch axis. It should be understood that the motor 122 may be a DC motor or an AC motor. In addition, the motor 122 may be a brushless motor or a brushed motor.

Wherein, the control system may include a controller and a sensing system. The sensing system is used to measure the attitude information of the movable platform, that is, the position information and state information of the movable platform 100 in space, such as 3D position, 3D angle, 3D velocity, 3D acceleration and 3D angular velocity. For example, the sensing system may include at least one of a gyroscope, an ultrasonic sensor, an electronic compass, an inertial measurement unit (Inertial Measurement Unit, IMU), a visual sensor, a global navigation satellite system, a barometer, and other sensors. For example, the global navigation satellite system may be the Global Positioning System (GPS). The controller is used to control the movement of the movable platform 100, for example, the movement of the movable platform 100 can be controlled according to the attitude information measured by the sensing system. It should be understood that the controller can control the movable platform 100 according to pre-programmed instructions.

In one embodiment, the controller of the movable platform 100 is further configured to perform hierarchical encoding on the initial image frame captured by the photographing device 130 to obtain a multi-layer code stream, and the multi-layer code stream includes a base layer code stream and an enhancement layer code stream. is also used to transmit the first part of the code stream in the multi-layer code stream to the terminal device 200 through the first wireless communication mode, and the first part of the code stream includes at least the base layer code stream; and is also used to transmit the multi-layer code stream through the second wireless communication mode. The second part of the code stream in the code stream is transmitted to the terminal device 200, the second part of the code stream includes at least the enhancement layer code stream, and the first transmission delay corresponding to the first wireless communication mode is smaller than the second transmission corresponding to the second wireless communication mode. delay.

The terminal device 200 includes a display device 210 , and the terminal device 200 displays the initial image frame sent by the movable platform 100 through the display device 210 for the user to watch. It should be noted that the display device 210 includes a display screen disposed on the terminal device 200 or a display independent of the terminal device 200, and the display independent of the terminal device 200 may include a mobile phone, a tablet computer, a personal computer, etc. Other electronic equipment with a display screen. Among them, the display screen includes an LED display screen, an OLED display screen, an LCD display screen, and the like.

In one embodiment, the terminal device 200 is used to obtain the first part of the code stream in the multi-layer code stream transmitted by the mobile platform 100 based on the first wireless communication method; and is also used to obtain the transmission of the mobile platform 100 based on the second wireless communication method. The second part of the code stream in the multi-layer code stream of the Decoding is performed to obtain a second image frame, and the second image frame is output. Exemplarily, the second image frame is sent to the live broadcast server for live broadcast.

Wherein, the base layer code stream can be directly decoded by the terminal device 200 without referring to the code streams of other layers, while when the terminal device 200 decodes the enhancement layer code stream, it needs to refer to the base layer code stream, and the enhancement layer of the higher layer needs to be referred to. When decoding the code stream, it is necessary to refer to the low-level enhancement layer code stream, and the image quality of the image frame obtained by decoding the enhancement layer code stream is higher than that of the image frame obtained by decoding the base layer code stream. Scalable video coding (SVC) includes any one of spatial scaling coding, temporal scaling coding, and signal-to-noise ratio scaling coding. When the adopted scaling coding is spatial scaling coding, the image frame obtained by decoding the base layer The first resolution is smaller than the second resolution of the image frame obtained by decoding the enhancement layer code stream. When the hierarchical coding adopted is temporal hierarchical coding, the first frame rate of the image frame obtained by decoding the base layer code stream is smaller than the decoding enhancement layer code stream. The second frame rate of the image frame obtained from the stream, when the hierarchical coding adopted is the signal-to-noise ratio hierarchical coding, the first image quality of the image frame obtained by decoding the base layer code stream is lower than that of the image frame obtained by decoding the enhancement layer code stream. 2. Image quality.

The movable platform 100 includes drones, unmanned vehicles and mobile robots, and the drones include rotary-wing drones, such as quad-rotor drones, hexa-rotor drones, and octa-rotor drones. It is a fixed-wing UAV, or a combination of a rotary-wing type and a fixed-wing UAV, which is not limited here. Terminal device 200 may include, but is not limited to, smart phones/mobile phones, tablet computers, personal digital assistants (PDAs), desktop computers, media content players, video game stations/systems, virtual reality systems, augmented reality systems, wearable devices (eg, watches, glasses, gloves, headwear (eg, hats, helmets, virtual reality headsets, augmented reality headsets, head mounted devices (HMDs), headbands), pendants, armbands, leg loops, shoes, vest), gesture recognition device, microphone, any electronic device capable of providing or rendering image data, or any other type of device. The terminal device 200 may be a handheld terminal, and the terminal device 200 may be portable. The terminal device 200 may be carried by a human user. In some cases, the end device 200 may be remote from the human user, and the user may control the end device 200 using wireless and/or wired communications.

Hereinafter, the image transmission method provided by the embodiments of the present application will be described in detail with reference to the scene in FIG. 1 . It should be noted that the scene in FIG. 1 is only used to explain the image transmission method provided by the embodiment of the present application, but does not constitute a limitation on the application scene of the image transmission method provided by the embodiment of the present application.

Please refer to FIG. 2, which is a schematic flowchart of steps of an image transmission method provided by an embodiment of the present application. The image transmission method can be applied to a movable platform, and the movable platform can communicate with the terminal device through the first wireless communication manner and the second wireless communication manner.

As shown in FIG. 2 , the image transmission method includes steps S101 to S103.

Step S101, performing hierarchical coding on the initial image frame captured by the photographing device to obtain a multi-layer code stream, wherein the multi-layer code stream includes a base layer code stream and an enhancement layer code stream;

Step S102, transmitting a first partial code stream in the multi-layer code stream to the terminal device through the first wireless communication method, wherein the first partial code stream includes at least the base layer code stream;

Step S103: Transmit a second partial code stream in the multi-layer code stream to the terminal device through the second wireless communication method, wherein the second partial code stream at least includes the enhancement layer code stream.

Among them, the base layer code stream can be directly decoded by the terminal device without referring to the code streams of other layers, and when the terminal device decodes the enhancement layer code stream, it needs to refer to the base layer code stream, and the high-level enhancement layer code stream When performing decoding, it is necessary to refer to the lower-level enhancement layer code stream, and the image quality of the image frame obtained by decoding the enhancement layer code stream is higher than that of the image frame obtained by decoding the base layer code stream. The scalable video coding (SVC) can be H.264SVC or H.265SVC.

Scalable video coding (SVC) includes any one of spatial scaling coding, temporal scaling coding, and signal-to-noise ratio scaling coding. When the adopted scaling coding is spatial scaling coding, the image frame obtained by decoding the base layer The first resolution is smaller than the second resolution of the image frame obtained by decoding the enhancement layer code stream. When the hierarchical coding adopted is temporal hierarchical coding, the first frame rate of the image frame obtained by decoding the base layer code stream is smaller than the decoding enhancement layer code stream. The second frame rate of the image frame obtained from the stream, when the hierarchical coding adopted is the signal-to-noise ratio hierarchical coding, the first image quality of the image frame obtained by decoding the base layer code stream is lower than that of the image frame obtained by decoding the enhancement layer code stream. 2. Image quality.

In one embodiment, the first transmission delay corresponding to the first wireless communication mode is smaller than the second transmission delay corresponding to the second wireless communication mode, and the first transmission data volume corresponding to the first wireless communication mode is smaller than the second wireless communication mode. The corresponding second transmission data amount. The first wireless communication method is a private communication method, the second wireless communication method is a public communication method, and the public communication method includes but is not limited to 4G communication and 5G communication. SDR) Lightbridge and Ocusync, etc.

Since the base layer code stream can be decoded without referring to other layer code streams, transmitting the base layer code stream to the terminal device through the first wireless communication method with small transmission delay can meet the low-latency requirement scenarios, while enhancing the The image quality of the up-code stream is relatively high. Therefore, the enhanced up-code stream is transmitted through the second wireless communication method with a large transmission delay, which can meet the scenes with high image quality requirements, and can meet the user's delay in wireless image transmission, image quality, etc. The requirements of various performance indicators greatly improve the user experience. For example, the base layer code stream is used for real-time image transmission, and the enhancement layer code stream is used for live broadcast.

In one embodiment, the first code rate corresponding to the base layer code stream is smaller than the second code rate corresponding to the enhancement layer code stream, and the first code rate corresponding to the base layer code stream is based on the wireless channel corresponding to the first wireless communication mode. The channel bandwidth is determined, and the second code rate of the enhancement layer code stream is determined according to the channel bandwidth of the wireless channel corresponding to the second wireless communication mode. Further, the first code rate corresponding to the base layer code stream is less than or equal to the maximum code rate determined according to the channel bandwidth of the wireless channel corresponding to the first wireless communication mode, and the second code rate of the enhancement layer code stream is less than or equal to the second code rate according to the second The maximum code rate determined by the channel bandwidth of the wireless channel corresponding to the wireless communication mode.

In an embodiment, when performing hierarchical encoding on the initial image frame, the first bit rate corresponding to the base layer code stream is determined based on the channel bandwidth of the wireless channel corresponding to the first wireless communication method, and the The channel bandwidth of the channel determines the second code rate corresponding to the enhancement layer code stream. Exemplarily, the mapping relationship between the channel bandwidth and the code rate is obtained, and according to the mapping relationship and the channel bandwidth of the wireless channel corresponding to the first wireless communication mode, the first code rate corresponding to the base layer code stream is determined, and according to the The mapping relationship and the channel bandwidth of the wireless channel corresponding to the second wireless communication mode determine the second code rate corresponding to the enhancement layer code stream.

In one embodiment, the multi-layer code stream includes the base layer code stream and the multi-layer enhancement layer code stream, and the multi-layer enhancement layer code stream includes the first part of the enhancement layer code stream and the second part of the enhancement layer code stream. When the image frame is hierarchically encoded, the code rate corresponding to the base layer code stream and the code rate corresponding to the first part of the enhancement layer code stream are determined based on the channel bandwidth of the wireless channel corresponding to the first wireless communication method, and the code rate corresponding to the first part of the enhancement layer code stream is determined based on the channel bandwidth of the wireless channel corresponding to the first wireless communication The channel bandwidth of the channel determines the code rate corresponding to the second part of the enhancement layer code stream, or determines the code rate corresponding to the multi-layer enhancement layer code stream based on the channel bandwidth of the wireless channel corresponding to the second wireless communication mode.

In one embodiment, the first partial code stream and the second partial code stream are different, and the first partial code stream and the second partial code stream have no intersection. Exemplarily, the multi-layer code stream includes a base layer code stream and a multi-layer enhancement layer code stream, the first part of the code stream includes a base layer code stream, and the second part of the code stream includes a multi-layer enhancement layer code stream. In this scenario, after the terminal device obtains the multi-layer code stream, the terminal device decodes the base layer code stream, obtains the first image frame, displays the first image frame, and interprets the multi-layer enhancement layer based on the first image frame. The code stream is decoded to obtain a second image frame.

In one embodiment, when the channel bandwidth of the wireless channel corresponding to the first wireless communication mode is smaller than the preset channel bandwidth, only the base layer code stream is sent to the terminal device through the first wireless communication mode; The device sends a multi-layer enhancement layer stream. When the channel bandwidth of the wireless channel corresponding to the first wireless communication mode is small, only the base layer code stream is sent to the terminal device through the first wireless communication mode, so that the reliability of image transmission can be ensured.

Exemplarily, the multi-layer enhancement layer code stream includes a first part of the enhancement layer code stream and a second part of the enhancement layer code stream, the level of the first part of the enhancement layer is lower than that of the second part of the enhancement layer code stream, and the first part of the enhancement layer corresponds to The code rate is smaller than the code rate corresponding to the second part of the enhancement layer code stream. The first part of the code stream includes the base layer code stream and the first part of the enhancement layer code stream, and the second part of the code stream includes the second part of the enhancement layer code stream. For example, when the channel bandwidth of the wireless channel corresponding to the first wireless communication method is greater than or equal to the preset channel bandwidth, the mobile platform sends the base layer code stream and the first part of the enhancement layer code stream to the terminal device through the first wireless communication method, and The second part of the enhancement layer code stream is sent to the terminal device through the second wireless communication manner.

In this scenario, after the terminal device obtains the multi-layer code stream, the terminal device decodes the base layer code stream to obtain a third image frame, and decodes the first part of the enhancement layer code stream based on the third image frame to obtain The first image frame, and then decoding the second part of the enhancement layer code stream based on the first image frame to obtain a second image frame. By sending the base layer code stream and a part of the enhancement layer code stream to the terminal device through the first wireless communication mode when the channel bandwidth of the wireless channel corresponding to the first wireless communication mode is sufficient, it is possible to improve the time delay while ensuring the delay. Image quality of wireless image transmission.

In one embodiment, the first partial code stream and the second partial code stream are different, and the first partial code stream and the second partial code stream have an intersection. Exemplarily, the multi-layer enhancement layer code stream includes a first part of the enhancement layer code stream and a second part of the enhancement layer code stream, the first part of the code stream includes the base layer code stream and the first part of the enhancement layer code stream, and the second part of the code stream includes the multi-layer code stream. Layer enhancement layer codestream. In this case, after the terminal device receives the multi-layer code stream, the terminal device decodes the base layer code stream to obtain a third image frame, and decodes the first part of the enhancement layer code stream based on the third image frame to obtain The first image frame, and then decoding the multi-layer enhancement layer code stream based on the third image frame to obtain the second image frame.

In one embodiment, when the channel bandwidth of the wireless channel corresponding to the first wireless communication mode is greater than or equal to the preset channel bandwidth, the mobile platform sends the base layer code stream and the first part of the enhancement layer to the terminal device through the first wireless communication mode. At the same time, when the channel bandwidth of the wireless channel corresponding to the second wireless communication mode is greater than or equal to the preset channel bandwidth, the multi-layer enhancement layer code stream is sent to the terminal device through the second wireless communication mode. Sending the base layer code stream and a part of the enhancement layer code stream to the terminal device through the first wireless communication mode can improve the image quality of the wireless image transmission under the condition of ensuring the delay. When the channel bandwidth is sufficient, sending all the enhancement layer streams can further improve the image quality of wireless image transmission.

Exemplarily, the first partial code stream includes a base layer code stream, and the second partial code stream includes a base layer code stream and a multi-layer enhancement layer code stream. In this case, after the terminal device receives the multi-layer code stream, the terminal device decodes the base layer code stream to obtain the first image frame, and decodes the multi-layer enhancement layer code stream based on the first image frame to obtain second image frame. For example, when the channel bandwidth of the wireless channel corresponding to the first wireless communication mode is smaller than the preset channel bandwidth, only the base layer code stream is sent to the terminal device through the first wireless communication mode; When the channel bandwidth is greater than or equal to the preset channel bandwidth, the base layer code stream and the multi-layer enhancement layer code stream are sent to the terminal device through the second wireless communication method. When the channel bandwidth of the wireless channel corresponding to the first wireless communication mode is small, only the basic layer code stream is sent to the terminal device through the first wireless communication mode, so that the reliability of the image transmission can be ensured. When the channel bandwidth of the wireless channel corresponding to the first wireless communication mode is sufficient, the entire multi-layer code stream is sent without referring to the base layer code stream sent in the first wireless communication mode, which can further improve the image quality of wireless image transmission.

In one embodiment, if it is detected that the first transmission bandwidth corresponding to the first wireless communication mode is smaller than the second transmission bandwidth corresponding to the second wireless communication mode, the second part of the multi-layer code stream is converted by the second wireless communication mode. The code stream is transmitted to the terminal device. When the transmission bandwidth corresponding to the first wireless communication mode is less than the transmission bandwidth corresponding to the second wireless communication mode, the second part of the code stream is transmitted to the terminal device through the second wireless communication mode, which can improve the performance of the terminal device on the premise of sacrificing a certain delay. The utilization rate of the transmission bandwidth corresponding to the second wireless communication mode.

In one embodiment, if it is detected that the first transmission bandwidth corresponding to the first wireless communication method is greater than or equal to the second transmission bandwidth corresponding to the second wireless communication method, the first wireless communication method is used to convert the first transmission bandwidth in the multi-layer code stream. The two-part stream is transmitted to the terminal device. When the transmission bandwidth corresponding to the first wireless communication mode is larger than the transmission bandwidth corresponding to the second wireless communication mode, the multi-layer code stream is only transmitted through the first wireless communication mode, which can ensure low latency and improve wireless image transmission. image quality.

In one embodiment, if it is detected that the communication distance between the movable platform and the terminal device is greater than the distance threshold, the second part of the code stream in the multi-layer code stream is transmitted to the terminal device through the second wireless communication method. Since the data transmission reliability of the first wireless communication method is related to the communication distance, when the communication distance is long, the data transmission reliability of the first wireless communication method is relatively low. The first wireless communication mode only sends the base layer code stream to the terminal device, and the second part of the code stream is sent to the terminal device through the second wireless communication mode, which can improve the reliability and image quality of wireless image transmission.

In an embodiment, if it is detected that the communication distance between the movable platform and the terminal device is less than or equal to the distance threshold, the second part of the code stream in the multi-layer code stream is transmitted to the terminal device through the first wireless communication method. Since the data transmission reliability of the first wireless communication method is related to the communication distance, when the communication distance is short, the data transmission reliability and channel bandwidth of the first wireless communication method are relatively high. In this case, the multi-layer code stream is only transmitted through the first wireless communication mode, which can improve the image quality of wireless image transmission while ensuring low latency.

In the image transmission method provided by the above embodiment, a multi-layer code stream including a base layer code stream and an enhancement layer code stream is obtained by performing hierarchical coding on the initial image frame, and the first wireless communication method with small transmission delay is used to transmit to the terminal device. The multi-layer code stream includes at least the first part of the base layer code stream, and transmits at least the second part of the enhancement layer code stream to the terminal device through a second wireless communication method with a large transmission delay The code stream can meet the user's requirements for various performance indicators such as the delay and image quality of wireless image transmission, which greatly improves the user experience.

Please refer to FIG. 3 , which is a schematic flowchart of steps of another image transmission method provided by an embodiment of the present application.

As shown in FIG. 3 , the image transmission method includes steps S201 to S204.

Step S201, acquiring a first partial code stream in the multi-layer code stream transmitted by the mobile platform based on the first wireless communication manner, wherein the first partial code stream includes at least the base layer code stream;

Step S202: Acquire a second partial code stream in the multi-layer code stream transmitted by the mobile platform based on the second wireless communication manner, wherein the second partial code stream at least includes the enhancement layer code stream ;

Step S203, decoding the first partial code stream to obtain a first image frame, and displaying the first image frame;

Step S204: Decode the second partial code stream to obtain a second image frame, and output the second image frame.

Exemplarily, if the first part of the code stream only includes the base layer code stream, and the second part of the code stream only includes the enhancement layer code stream, then step S203 may include: decoding the base layer code stream to obtain the first image frame, and displaying the first image frame. an image frame. Step S204 may include: decoding the enhancement layer code stream according to the first image frame to obtain a second image frame, and outputting the second image frame.

In one embodiment, the first partial code stream and the second partial code stream are different, and the first partial code stream and the second partial code stream have no intersection. Exemplarily, the multi-layer code stream includes a base layer code stream and a multi-layer enhancement layer code stream, the first part of the code stream includes a base layer code stream, and the second part of the code stream includes a multi-layer enhancement layer code stream. In this scenario, step S203 may include: decoding the base layer code stream to obtain the first image frame, and displaying the first image frame. Step S204 may include: decoding the multi-layer enhancement layer code stream according to the first image frame to obtain a second image frame, and outputting the second image frame. For example, if the multi-layer code stream includes the base layer code stream, the first layer enhancement layer code stream and the second layer enhancement layer code stream, the first layer enhancement layer code stream is decoded according to the first image frame to obtain the intermediate image frame, And according to the intermediate image frame, the code stream of the second layer enhancement layer is decoded to obtain the second image frame.

In one embodiment, the multi-layer enhancement layer code stream includes a first part of the enhancement layer code stream and a second part of the enhancement layer code stream, the level of the first part of the enhancement layer is lower than that of the second part of the enhancement layer code stream, and the first part of the enhancement layer The corresponding code rate is smaller than the code rate corresponding to the second part of the enhancement layer code stream. The first part of the code stream includes the base layer code stream and the first part of the enhancement layer code stream, and the second part of the code stream includes the second part of the enhancement layer code stream. In this scenario, step S203 may include: decoding the base layer code stream to obtain the third image frame, and decoding the first part of the enhancement layer code stream according to the third image frame to obtain the first image frame, and displaying the first image frame. an image frame. Step S204 may include: decoding the multi-layer enhancement layer code stream according to the first image frame to obtain a second image frame, and outputting the second image frame.

For example, the multi-layer enhancement layer code stream includes the first layer enhancement layer code stream and the second layer enhancement layer code stream, and the first part of the enhancement layer only includes the first layer enhancement layer code stream, and the second part of the enhancement layer code stream only includes the first layer enhancement layer code stream. The second-layer enhancement layer code stream is decoded to obtain the third image frame, and the first-layer enhancement layer code stream is decoded according to the third image frame to obtain the first image frame, and then according to the first image frame The frame decodes the code stream of the second layer enhancement layer to obtain the second image frame.

In one embodiment, the first partial code stream and the second partial code stream are different, and the first partial code stream and the second partial code stream have an intersection. Exemplarily, the multi-layer enhancement layer code stream includes a first part of the enhancement layer code stream and a second part of the enhancement layer code stream, the first part of the code stream includes the base layer code stream and the first part of the enhancement layer code stream, and the second part of the code stream includes the multi-layer code stream. Layer enhancement layer codestream. In this case, step S203 may include: decoding the base layer code stream to obtain the third image frame, and decoding the first part of the enhancement layer code stream according to the third image frame to obtain the first image frame, and displaying the first image frame. an image frame. Step S204 may include: decoding the multi-layer enhancement layer code stream according to the third image frame to obtain the second image frame. For example, if the multi-layer enhancement layer code stream includes the first layer enhancement layer code stream and the second layer enhancement layer code stream, the first layer enhancement layer code stream is decoded according to the third image frame to obtain an intermediate image frame, and according to the middle image frame Image frame, decode the code stream of the second layer enhancement layer to obtain the second image frame.

In an embodiment, the first partial code stream includes a base layer code stream, and the second partial code stream includes a base layer code stream and a multi-layer enhancement layer code stream. In this case, step S203 may include: decoding the base layer code stream to obtain the first image frame, and displaying the first image frame. Step S204 may include: decoding the base layer code stream to obtain a first image frame, and decoding the multi-layer enhancement layer code stream according to the first image frame to obtain a second image frame.

In one embodiment, the second image frame is sent to the live server. Since the second image frame is obtained by decoding the enhancement layer code stream, the image quality of the second image frame is better. By sending the second image frame with better image quality to the live server, it is convenient for people watching the user's live broadcast to see high-definition images. screen to improve user experience.

In the image transmission method provided by the above embodiment, the first part of the code stream including at least the base layer code stream transmitted by the movable platform based on the first wireless communication mode is obtained, and the code stream including the enhancement layer transmitted by the movable platform based on the second wireless communication mode is obtained. The second part of the code stream of the code stream, and then the first part of the code stream is decoded to obtain the first image frame, and the first image frame is displayed, and the second part of the code stream is decoded to obtain the second image frame and output the first image frame. Two image frames. Since the base layer code stream can be decoded without referring to the other layer code streams, the base layer code stream transmitted through the first wireless communication method with a small transmission delay can meet the low-latency requirement scenarios, while the enhanced coding The image quality of the stream is relatively high. Therefore, the enhanced coded stream transmitted through the second wireless communication method with a large transmission delay can meet the scene with high image quality requirements, and can meet the user's requirements for wireless image transmission delay, image quality, etc. The requirements of various performance indicators have greatly improved the user experience.

Please refer to FIG. 4. FIG. 4 is a schematic structural block diagram of a movable platform provided by an embodiment of the present application. The movable platform can communicate with the terminal device through the first wireless communication method and the second wireless communication method.

As shown in FIG. 4 , the movable platform 300 includes a processor 310, a memory 320, and a photographing device 330. The processor 310, the memory 320, and the photographing device 330 are connected through a bus 340, such as an I2C (Inter-integrated Circuit) bus. .

Specifically, the processor 310 may be a micro-controller unit (Micro-controller Unit, MCU), a central processing unit (Central Processing Unit, CPU), or a digital signal processor (Digital Signal Processor, DSP) or the like.

Specifically, the memory 320 may be a Flash chip, a read-only memory (ROM, Read-Only Memory) magnetic disk, an optical disk, a U disk, a mobile hard disk, and the like.

Wherein, the processor 310 is configured to run the computer program stored in the memory 320, and implement the following steps when executing the computer program:

In an embodiment, when the processor transmits the second part of the code stream in the multi-layer code stream to the terminal device through the second wireless communication manner, the processor is configured to implement:

If it is detected that the first transmission bandwidth corresponding to the first wireless communication mode is smaller than the second transmission bandwidth corresponding to the second wireless communication mode, the second wireless communication mode in the multi-layer code stream The partial code stream is transmitted to the terminal device; otherwise, the second partial code stream in the multi-layer code stream is transmitted to the terminal device through the first wireless communication manner.

If it is detected that the communication distance between the movable platform and the terminal device is greater than the distance threshold, transmit the second part of the code stream in the multi-layer code stream to the terminal device through the second wireless communication method ; otherwise, transmit the second part of the code stream in the multi-layer code stream to the terminal device through the first wireless communication manner.

In one embodiment, the hierarchical coding includes spatial hierarchical coding, and the first resolution of the image frame obtained by decoding the base layer code stream is smaller than the second resolution of the image frame obtained by decoding the enhancement layer code stream.

In one embodiment, the hierarchical coding includes temporal hierarchical coding, and the first frame rate of the image frame obtained by decoding the base layer code stream is lower than the second frame rate of the image frame obtained by decoding the enhancement layer code stream.

In an embodiment, the hierarchical coding includes signal-to-noise ratio hierarchical coding, and the first image quality of the image frame obtained by decoding the base layer code stream is lower than the second image quality of the image frame obtained by decoding the enhancement layer code stream. .

In an embodiment, the first transmission data volume corresponding to the first wireless communication mode is smaller than the second transmission data volume corresponding to the second wireless communication mode.

In an embodiment, the first wireless communication mode is a private communication mode, and the second communication mode is a public communication mode.

In an embodiment, the public communication method includes 4G communication or 5G communication.

In one embodiment, the first code rate corresponding to the base layer code stream is smaller than the second code rate corresponding to the enhancement layer code stream.

In an embodiment, the first code rate corresponding to the base layer code stream is determined according to the channel bandwidth of the wireless channel corresponding to the first wireless communication mode.

In an embodiment, the first code rate corresponding to the base layer code stream is less than or equal to the maximum code rate determined according to the channel bandwidth of the wireless channel corresponding to the first wireless communication mode.

In an embodiment, the second code rate of the enhancement layer code stream is determined according to the channel bandwidth of the wireless channel corresponding to the second wireless communication mode.

In an embodiment, the second code rate of the enhancement layer code stream is less than or equal to the maximum code rate determined according to the channel bandwidth of the wireless channel corresponding to the second wireless communication mode.

In one embodiment, the first partial code stream and the second partial code stream are different, and the first partial code stream and the second partial code stream have no intersection.

In an embodiment, the enhancement layer code stream is a multi-layer enhancement layer code stream, the first partial code stream includes the base layer code stream, and the second partial code stream includes the multi-layer enhancement layer code stream .

In an embodiment, the enhancement layer code stream is a multi-layer enhancement layer code stream, the multi-layer enhancement layer code stream includes a first part of the enhancement layer code stream and a second part of the enhancement layer code stream, the first part of the code stream It includes the base layer code stream and the first part of the enhancement layer code stream, and the second part of the code stream includes the second part of the enhancement layer code stream.

In one embodiment, the level of the first partial enhancement layer is lower than the level of the codestream of the second partial enhancement layer.

In an embodiment, the code rate corresponding to the first part of the enhancement layer is smaller than the code rate corresponding to the second part of the enhancement layer code stream.

In one embodiment, the first partial code stream and the second partial code stream are different, and the first partial code stream and the second partial code stream have an intersection.

In an embodiment, the enhancement layer code stream is a multi-layer enhancement layer code stream, the multi-layer enhancement layer code stream includes a first part of the enhancement layer code stream and a second part of the enhancement layer code stream, the first part of the code stream It includes the base layer code stream and the first part of the enhancement layer code stream, and the second part of the code stream includes the multi-layer enhancement layer code stream.

In an embodiment, the enhancement layer code stream is a multi-layer enhancement layer code stream, the first partial code stream includes the base layer code stream, and the second partial code stream includes the base layer code stream and all The multi-layer enhancement layer code stream.

In one embodiment, when the processor transmits the first part of the code stream in the multi-layer code stream to the terminal device through the first wireless communication manner, the processor is configured to implement:

If the channel bandwidth of the wireless channel corresponding to the first wireless communication manner is smaller than the preset channel bandwidth, the base layer code stream is transmitted to the terminal device through the first wireless communication manner.

In one embodiment, when the processor implements transmitting the first part of the code stream in the multi-layer code stream to the terminal device through the first wireless communication manner, the processor is configured to implement:

If the channel bandwidth of the wireless channel corresponding to the first wireless communication mode is greater than or equal to the preset channel bandwidth, the base layer code stream and the multi-layer enhancement layer code stream are converted by the first wireless communication mode. The first part of the enhancement layer code stream is transmitted to the terminal device.

In an embodiment, the base layer code stream is used for real-time image transmission, and the enhancement layer code stream is used for live broadcast.

It should be noted that those skilled in the art can clearly understand that, for the convenience and brevity of the description, for the specific working process of the movable platform described above, reference may be made to the corresponding process in the foregoing image transmission method embodiment, which is not described here. Repeat.

Please refer to FIG. 5. FIG. 5 is a schematic structural block diagram of a terminal device provided by an embodiment of the present application.

The terminal device can communicate with the movable platform through the first wireless communication mode and the second wireless communication mode, the movable platform includes a photographing device, and the movable platform can perform hierarchical coding on the initial image frame photographed by the photographing device to obtain a multi-layer code The multi-layer code stream includes a base layer code stream and an enhancement layer code stream.

As shown in FIG. 5 , the terminal device 400 includes a processor 410 and a memory 420. The processor 410 and the memory 420 are connected through a bus 430, and the bus 430 is, for example, an I2C (Inter-integrated Circuit) bus.

Specifically, the processor 410 may be a micro-controller unit (Micro-controller Unit, MCU), a central processing unit (Central Processing Unit, CPU), or a digital signal processor (Digital Signal Processor, DSP) or the like.

Specifically, the memory 420 may be a Flash chip, a read-only memory (ROM, Read-Only Memory) magnetic disk, an optical disk, a U disk, a mobile hard disk, and the like.

Wherein, the processor 410 is configured to run the computer program stored in the memory 420, and implement the following steps when executing the computer program:

In one embodiment, when the processor decodes the first partial code stream to obtain the first image frame, the processor is configured to:

Decoding the base layer code stream to obtain a first image frame;

When the processor decodes the second partial code stream to obtain the second image frame, the processor is used to implement:

According to the first image frame, the multi-layer enhancement layer code stream is decoded to obtain a second image frame.

Decoding the base layer code stream to obtain a third image frame;

decoding the first part of the enhancement layer code stream according to the third image frame to obtain a first image frame;

According to the first image frame, the second part of the enhancement layer code stream is decoded to obtain a second image frame.

In one embodiment, the level of the first partial enhancement layer is lower than the level of the second partial enhancement layer codestream.

Decoding the base layer code stream to obtain a third image frame;

According to the third image frame, the multi-layer enhancement layer code stream is decoded to obtain a second image frame.

Decoding the base layer code stream to obtain a first image frame;

In an embodiment, when the processor outputs the second image frame, the processor is configured to:

Send the second image frame to the live server.

It should be noted that those skilled in the art can clearly understand that, for the convenience and brevity of the description, for the specific working process of the terminal device described above, reference may be made to the corresponding process in the foregoing image transmission method embodiment, which is not repeated here. Repeat.

Please refer to FIG. 6. FIG. 6 is a schematic structural block diagram of an image transmission system provided by an embodiment of the present application.

As shown in FIG. 6 , the image transmission system 500 includes a movable platform 510 and a terminal device 520, and the movable platform 510 can communicate with the terminal device 510 through a first wireless communication manner and a second wireless communication manner.

It should be noted that those skilled in the art can clearly understand that, for the convenience and brevity of the description, for the specific working process of the image transmission system described above, reference may be made to the corresponding process in the foregoing image transmission method embodiments, which is not described here. Repeat.

Embodiments of the present application further provide a computer-readable storage medium, where a computer program is stored in the computer-readable storage medium, and the computer program includes program instructions, and the processor executes the program instructions to realize the provision of the above embodiments. The steps of the image transmission method.

The computer-readable storage medium may be an internal storage unit of the removable platform or terminal device described in any of the foregoing embodiments, such as a hard disk or memory of the removable platform or terminal device. The computer-readable storage medium may also be an external storage device of the removable platform or terminal device, such as a pluggable hard disk, a smart memory card (Smart Media Card, SMC) equipped on the removable platform or terminal device , Secure Digital (Secure Digital, SD) card, flash memory card (Flash Card) and so on.

It should be understood that the terms used in the specification of the present application herein are for the purpose of describing particular embodiments only and are not intended to limit the present application. As used in this specification and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms unless the context clearly dictates otherwise.

It will also be understood that, as used in this specification and the appended claims, the term "and/or" refers to and including any and all possible combinations of one or more of the associated listed items.

The above are only specific embodiments of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art can easily think of various equivalents within the technical scope disclosed in the present application. Modifications or substitutions shall be covered by the protection scope of this application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

An image transmission method, characterized in that it is applied to a movable platform, the movable platform includes a photographing device, and the movable platform can communicate with a terminal device through a first wireless communication method and a second wireless communication method, so The methods described include:

Perform hierarchical coding on the initial image frame captured by the photographing device to obtain a multi-layer code stream, wherein the multi-layer code stream includes a base layer code stream and an enhancement layer code stream;

Transmitting a first partial code stream in the multi-layer code stream to the terminal device by using the first wireless communication method, wherein the first partial code stream at least includes the base layer code stream;

transmitting the second partial code stream in the multi-layer code stream to the terminal device by using the second wireless communication method, wherein the second partial code stream includes at least the enhancement layer code stream;

Wherein, the first transmission delay corresponding to the first wireless communication mode is smaller than the second transmission delay corresponding to the second wireless communication mode.
The image transmission method according to claim 1, wherein the transmitting the second part of the code stream in the multi-layer code stream to the terminal device through the second wireless communication method comprises:

If it is detected that the first transmission bandwidth corresponding to the first wireless communication mode is smaller than the second transmission bandwidth corresponding to the second wireless communication mode, the second wireless communication mode in the multi-layer code stream The partial code stream is transmitted to the terminal device; otherwise, the second partial code stream in the multi-layer code stream is transmitted to the terminal device through the first wireless communication manner.
The image transmission method according to claim 1, wherein the transmitting the second part of the code stream in the multi-layer code stream to the terminal device through the second wireless communication method comprises:

If it is detected that the communication distance between the movable platform and the terminal device is greater than the distance threshold, transmit the second part of the code stream in the multi-layer code stream to the terminal device through the second wireless communication method ; otherwise, transmit the second part of the code stream in the multi-layer code stream to the terminal device through the first wireless communication manner.
The image transmission method according to claim 1, wherein the hierarchical coding comprises spatial hierarchical coding, and the first resolution of the image frame obtained by decoding the base layer code stream is smaller than that obtained by decoding the enhancement layer code stream. The second resolution of the image frame.
The image transmission method according to claim 1, wherein the hierarchical coding comprises temporal hierarchical coding, and the first frame rate of the image frame obtained by decoding the base layer code stream is lower than that obtained by decoding the enhancement layer code stream. The second frame rate of the image frame.
The image transmission method according to claim 1, wherein the hierarchical coding comprises signal-to-noise ratio hierarchical coding, and the first image quality of the image frame obtained by decoding the base layer code stream is lower than that of decoding the enhancement layer code stream. The second image quality of the resulting image frame.
The image transmission method according to claim 1, wherein the first transmission data amount corresponding to the first wireless communication mode is smaller than the second transmission data amount corresponding to the second wireless communication mode.
The image transmission method according to claim 1, wherein the first wireless communication mode is a private communication mode, and the second communication mode is a public communication mode.
The image transmission method according to claim 8, wherein the public communication method includes 4G communication or 5G communication.
The image transmission method according to claim 1, wherein the first code rate corresponding to the base layer code stream is smaller than the second code rate corresponding to the enhancement layer code stream.
The image transmission method according to claim 1, wherein the first code rate corresponding to the base layer code stream is determined according to the channel bandwidth of the wireless channel corresponding to the first wireless communication mode.
The image transmission method according to claim 11, wherein the first code rate corresponding to the base layer code stream is less than or equal to the maximum code rate determined according to the channel bandwidth of the wireless channel corresponding to the first wireless communication mode .
The image transmission method according to claim 1, wherein the second code rate of the enhancement layer code stream is determined according to the channel bandwidth of the wireless channel corresponding to the second wireless communication mode.
The image transmission method according to claim 13, wherein the second code rate of the enhancement layer code stream is less than or equal to the maximum code rate determined according to the channel bandwidth of the wireless channel corresponding to the second wireless communication mode.
The image transmission method according to any one of claims 1-14, wherein the first part of the code stream is different from the second part of the code stream, and the first part of the code stream is different from the second part of the code stream Code streams do not intersect.
The image transmission method according to claim 15, wherein the enhancement layer code stream is a multi-layer enhancement layer code stream, the first part of the code stream comprises the base layer code stream, and the second part of the code stream The multi-layer enhancement layer code stream is included.
The image transmission method according to claim 15, wherein the enhancement layer code stream is a multi-layer enhancement layer code stream, and the multi-layer enhancement layer code stream comprises a first part of the enhancement layer code stream and a second part of the enhancement layer code stream A code stream, the first part of the code stream includes the base layer code stream and the first part of the enhancement layer code stream, and the second part of the code stream includes the second part of the enhancement layer code stream.
The image transmission method according to claim 17, wherein the level of the first part of the enhancement layer is lower than the level of the code stream of the second part of the enhancement layer.
The image transmission method according to claim 17, wherein the code rate corresponding to the first part of the enhancement layer is smaller than the code rate corresponding to the code stream of the second part of the enhancement layer.
The image transmission method according to any one of claims 1-14, wherein the first part of the code stream is different from the second part of the code stream, and the first part of the code stream is different from the second part of the code stream Code streams have intersection.
The image transmission method according to claim 20, wherein the enhancement layer code stream is a multi-layer enhancement layer code stream, and the multi-layer enhancement layer code stream comprises a first part of the enhancement layer code stream and a second part of the enhancement layer code stream A code stream, the first part of the code stream includes the base layer code stream and the first part of the enhancement layer code stream, and the second part of the code stream includes the multi-layer enhancement layer code stream.
The image transmission method according to claim 20, wherein the enhancement layer code stream is a multi-layer enhancement layer code stream, the first part of the code stream comprises the base layer code stream, and the second part of the code stream It includes the base layer code stream and the multi-layer enhancement layer code stream.
The image transmission method according to any one of claims 1-14, wherein the first part of the code stream in the multi-layer code stream is transmitted to the terminal device through the first wireless communication manner ,include:

If the channel bandwidth of the wireless channel corresponding to the first wireless communication manner is smaller than the preset channel bandwidth, the base layer code stream is transmitted to the terminal device through the first wireless communication manner.
The image transmission method according to claim 23, wherein the transmitting the first part of the code stream in the multi-layer code stream to the terminal device through the first wireless communication method comprises:

If the channel bandwidth of the wireless channel corresponding to the first wireless communication mode is greater than or equal to the preset channel bandwidth, the base layer code stream and the multi-layer enhancement layer code stream are converted by the first wireless communication mode. The first part of the enhancement layer code stream is transmitted to the terminal device.
The image transmission method according to any one of claims 1-14, wherein the base layer code stream is used for real-time image transmission, and the enhancement layer code stream is used for live broadcast.
An image transmission method, characterized in that it is applied to a terminal device, the terminal device can communicate with a movable platform through a first wireless communication method and a second wireless communication method, the movable platform includes a photographing device, and the The movable platform can perform hierarchical coding on the initial image frame captured by the photographing device to obtain a multi-layer code stream, and the multi-layer code stream includes a base layer code stream and an enhancement layer code stream, and the method includes:

acquiring a first partial code stream in the multi-layer code stream transmitted by the mobile platform based on the first wireless communication manner, wherein the first partial code stream includes at least the base layer code stream;

acquiring a second partial code stream in the multi-layer code stream transmitted by the movable platform based on the second wireless communication manner, wherein the second partial code stream includes at least the enhancement layer code stream;

Decoding the first partial code stream to obtain a first image frame, and displaying the first image frame;

Decoding the second partial code stream to obtain a second image frame, and outputting the second image frame;

Wherein, the first transmission delay corresponding to the first wireless communication mode is smaller than the second transmission delay corresponding to the second wireless communication mode.
The image transmission method according to claim 26, wherein the first transmission data volume corresponding to the first wireless communication mode is smaller than the second transmission data volume corresponding to the second wireless communication mode.
The image transmission method according to claim 26, wherein the first wireless communication method is a private communication method, and the second communication method is a public communication method.
The image transmission method according to claim 28, wherein the public communication method includes 4G communication or 5G communication.
The image transmission method according to claim 26, wherein the hierarchical coding comprises spatial hierarchical coding, and the first resolution of the image frame obtained by decoding the base layer code stream is smaller than that obtained by decoding the enhancement layer code stream. The second resolution of the image frame.
The image transmission method according to claim 26, wherein the hierarchical coding comprises temporal hierarchical coding, and the first frame rate of the image frame obtained by decoding the base layer code stream is smaller than that obtained by decoding the enhancement layer code stream. The second frame rate of the image frame.
The image transmission method according to claim 26, wherein the hierarchical coding comprises signal-to-noise ratio hierarchical coding, and the first image quality of the image frame obtained by decoding the base layer code stream is lower than that of decoding the enhancement layer code stream. The second image quality of the resulting image frame.
The image transmission method according to claim 26, wherein the first code rate corresponding to the base layer code stream is smaller than the second code rate corresponding to the enhancement layer code stream.
The image transmission method according to claim 26, wherein the first code rate corresponding to the base layer code stream is determined according to the channel bandwidth of the wireless channel corresponding to the first wireless communication mode.
The image transmission method according to claim 34, wherein the first code rate corresponding to the base layer code stream is less than or equal to the maximum code rate determined according to the channel bandwidth of the wireless channel corresponding to the first wireless communication mode .
The image transmission method according to claim 26, wherein the second code rate of the enhancement layer code stream is determined according to the channel bandwidth of the wireless channel corresponding to the second wireless communication mode.
The image transmission method according to claim 36, wherein the second code rate of the enhancement layer code stream is less than or equal to the maximum code rate determined according to the channel bandwidth of the wireless channel corresponding to the second wireless communication mode.
The image transmission method according to any one of claims 26-37, wherein the first part of the code stream is different from the second part of the code stream, and the first part of the code stream is different from the second part of the code stream Code streams have no intersection.
The image transmission method according to claim 38, wherein the enhancement layer code stream is a multi-layer enhancement layer code stream, the first part of the code stream comprises the base layer code stream, and the second part of the code stream The multi-layer enhancement layer code stream is included.
The image transmission method according to claim 39, wherein the decoding the first partial code stream to obtain the first image frame comprises:

Decoding the base layer code stream to obtain a first image frame;

The decoding of the second partial code stream to obtain a second image frame includes:

According to the first image frame, the multi-layer enhancement layer code stream is decoded to obtain a second image frame.
The image transmission method according to claim 38, wherein the enhancement layer code stream is a multi-layer enhancement layer code stream, and the multi-layer enhancement layer code stream comprises a first part of the enhancement layer code stream and a second part of the enhancement layer code stream A code stream, the first part of the code stream includes the base layer code stream and the first part of the enhancement layer code stream, and the second part of the code stream includes the second part of the enhancement layer code stream.
The image transmission method according to claim 41, wherein the decoding the first partial code stream to obtain the first image frame comprises:

Decoding the base layer code stream to obtain a third image frame;

decoding the first part of the enhancement layer code stream according to the third image frame to obtain a first image frame;

The decoding of the second partial code stream to obtain a second image frame includes:

According to the first image frame, the second part of the enhancement layer code stream is decoded to obtain a second image frame.
The image transmission method according to claim 41, wherein the level of the first part of the enhancement layer is lower than the level of the code stream of the second part of the enhancement layer.
The image transmission method according to claim 41, wherein the code rate corresponding to the first part of the enhancement layer is smaller than the code rate corresponding to the code stream of the second part of the enhancement layer.
The image transmission method according to any one of claims 26-37, wherein the first part of the code stream is different from the second part of the code stream, and the first part of the code stream is different from the second part of the code stream Code streams have intersection.
The image transmission method according to claim 45, wherein the enhancement layer code stream is a multi-layer enhancement layer code stream, and the multi-layer enhancement layer code stream comprises a first part of the enhancement layer code stream and a second part of the enhancement layer code stream A code stream, the first part of the code stream includes the base layer code stream and the first part of the enhancement layer code stream, and the second part of the code stream includes the multi-layer enhancement layer code stream.
The image transmission method according to claim 46, wherein the decoding the first partial code stream to obtain the first image frame comprises:

Decoding the base layer code stream to obtain a third image frame;

decoding the first part of the enhancement layer code stream according to the third image frame to obtain a first image frame;

The decoding of the second partial code stream to obtain a second image frame includes:

According to the third image frame, the multi-layer enhancement layer code stream is decoded to obtain a second image frame.
The image transmission method according to claim 45, wherein the enhancement layer code stream is a multi-layer enhancement layer code stream, the first part of the code stream comprises the base layer code stream, and the second part of the code stream It includes the base layer code stream and the multi-layer enhancement layer code stream.
The image transmission method according to claim 48, wherein the decoding the first partial code stream to obtain the first image frame comprises:

Decoding the base layer code stream to obtain a first image frame;

The decoding of the second partial code stream to obtain a second image frame includes:

Decoding the base layer code stream to obtain a first image frame;

According to the first image frame, the multi-layer enhancement layer code stream is decoded to obtain a second image frame.
The image transmission method according to any one of claims 26-37, wherein the outputting the second image frame comprises:

Send the second image frame to the live server.
A movable platform, characterized in that the movable platform can communicate with a terminal device through a first wireless communication manner and a second wireless communication manner;

the movable platform includes a camera, a memory and a processor;

the memory is used to store computer programs;

The processor is configured to execute the computer program and implement the following steps when executing the computer program:

Perform hierarchical coding on the initial image frame captured by the photographing device to obtain a multi-layer code stream, wherein the multi-layer code stream includes a base layer code stream and an enhancement layer code stream;

Transmitting a first partial code stream in the multi-layer code stream to the terminal device by using the first wireless communication method, wherein the first partial code stream at least includes the base layer code stream;

transmitting the second partial code stream in the multi-layer code stream to the terminal device by using the second wireless communication method, wherein the second partial code stream includes at least the enhancement layer code stream;

Wherein, the first transmission delay corresponding to the first wireless communication mode is smaller than the second transmission delay corresponding to the second wireless communication mode.
The mobile platform according to claim 51, wherein when the processor implements the transmission of the second part of the multi-layer code stream to the terminal device through the second wireless communication manner , which is used to implement:

If it is detected that the first transmission bandwidth corresponding to the first wireless communication mode is smaller than the second transmission bandwidth corresponding to the second wireless communication mode, the second wireless communication mode in the multi-layer code stream The partial code stream is transmitted to the terminal device; otherwise, the second partial code stream in the multi-layer code stream is transmitted to the terminal device through the first wireless communication manner.
The mobile platform according to claim 51, wherein when the processor implements the transmission of the second part of the multi-layer code stream to the terminal device through the second wireless communication manner , which is used to implement:

If it is detected that the communication distance between the movable platform and the terminal device is greater than the distance threshold, transmit the second part of the code stream in the multi-layer code stream to the terminal device through the second wireless communication method ; otherwise, transmit the second part of the code stream in the multi-layer code stream to the terminal device through the first wireless communication manner.
The mobile platform according to claim 51, wherein the hierarchical coding comprises spatial hierarchical coding, and the first resolution of the image frame obtained by decoding the base layer code stream is smaller than that obtained by decoding the enhancement layer code stream. The second resolution of the image frame.
The mobile platform according to claim 51, wherein the hierarchical coding comprises temporal hierarchical coding, and the first frame rate of the image frame obtained by decoding the base layer code stream is lower than that obtained by decoding the enhancement layer code stream. The second frame rate of the image frame.
The mobile platform according to claim 51, wherein the hierarchical coding comprises signal-to-noise ratio hierarchical coding, and the first image quality of the image frame obtained by decoding the base layer code stream is lower than that of decoding the enhancement layer code stream The second image quality of the resulting image frame.
The mobile platform according to claim 51, wherein the first transmission data volume corresponding to the first wireless communication mode is smaller than the second transmission data volume corresponding to the second wireless communication mode.
The mobile platform according to claim 51, wherein the first wireless communication mode is a private communication mode, and the second communication mode is a public communication mode.
The mobile platform according to claim 58, wherein the public communication method includes 4G communication or 5G communication.
The mobile platform according to claim 51, wherein the first code rate corresponding to the base layer code stream is smaller than the second code rate corresponding to the enhancement layer code stream.
The mobile platform according to claim 51, wherein the first code rate corresponding to the base layer code stream is determined according to the channel bandwidth of the wireless channel corresponding to the first wireless communication mode.
The mobile platform according to claim 61, wherein the first code rate corresponding to the base layer code stream is less than or equal to the maximum code rate determined according to the channel bandwidth of the wireless channel corresponding to the first wireless communication mode .
The mobile platform according to claim 51, wherein the second code rate of the enhancement layer code stream is determined according to the channel bandwidth of the wireless channel corresponding to the second wireless communication mode.
The mobile platform according to claim 63, wherein the second code rate of the enhancement layer code stream is less than or equal to the maximum code rate determined according to the channel bandwidth of the wireless channel corresponding to the second wireless communication mode.
The mobile platform according to any one of claims 51-64, wherein the first part of the code stream is different from the second part of the code stream, and the first part of the code stream is different from the second part of the code stream Code streams do not intersect.
The mobile platform according to claim 65, wherein the enhancement layer code stream is a multi-layer enhancement layer code stream, the first part of the code stream comprises the base layer code stream, and the second part of the code stream The multi-layer enhancement layer code stream is included.
The mobile platform according to claim 65, wherein the enhancement layer code stream is a multi-layer enhancement layer code stream, and the multi-layer enhancement layer code stream comprises a first part of the enhancement layer code stream and a second part of the enhancement layer A code stream, the first part of the code stream includes the base layer code stream and the first part of the enhancement layer code stream, and the second part of the code stream includes the second part of the enhancement layer code stream.
The mobile platform according to claim 67, wherein the level of the first part of the enhancement layer is lower than the level of the code stream of the second part of the enhancement layer.
The mobile platform according to claim 67, wherein the code rate corresponding to the first part of the enhancement layer is smaller than the code rate corresponding to the second part of the enhancement layer code stream.
The mobile platform according to any one of claims 51-64, wherein the first part of the code stream is different from the second part of the code stream, and the first part of the code stream is different from the second part of the code stream Code streams have intersection.
The mobile platform according to claim 70, wherein the enhancement layer code stream is a multi-layer enhancement layer code stream, and the multi-layer enhancement layer code stream comprises a first part of the enhancement layer code stream and a second part of the enhancement layer A code stream, the first part of the code stream includes the base layer code stream and the first part of the enhancement layer code stream, and the second part of the code stream includes the multi-layer enhancement layer code stream.
The mobile platform according to claim 70, wherein the enhancement layer code stream is a multi-layer enhancement layer code stream, the first part of the code stream comprises the base layer code stream, and the second part of the code stream It includes the base layer code stream and the multi-layer enhancement layer code stream.
The mobile platform according to any one of claims 51-64, wherein the processor transmits the first part of the multi-layer code stream to the multi-layer code stream through the first wireless communication method. The terminal device is used to realize:

If the channel bandwidth of the wireless channel corresponding to the first wireless communication manner is smaller than the preset channel bandwidth, the base layer code stream is transmitted to the terminal device through the first wireless communication manner.
The mobile platform according to claim 73, wherein when the processor implements the transmission of the first part of the code stream in the multi-layer code stream to the terminal device through the first wireless communication manner, Used to implement:

If the channel bandwidth of the wireless channel corresponding to the first wireless communication mode is greater than or equal to the preset channel bandwidth, the base layer code stream and the multi-layer enhancement layer code stream are converted by the first wireless communication mode. The first part of the enhancement layer code stream is transmitted to the terminal device.
The mobile platform according to any one of claims 51-64, wherein the base layer code stream is used for real-time image transmission, and the enhancement layer code stream is used for live broadcast.
A terminal device, characterized in that the terminal device can communicate with a movable platform through a first wireless communication mode and a second wireless communication mode, the movable platform includes a photographing device, and the movable platform can The initial image frame captured by the photographing device is subjected to hierarchical encoding to obtain a multi-layer code stream, the multi-layer code stream includes a base layer code stream and an enhancement layer code stream, and the terminal device includes a memory and a processor;

the memory is used to store computer programs;

The processor is configured to execute the computer program and implement the following steps when executing the computer program:

acquiring a first partial code stream in the multi-layer code stream transmitted by the mobile platform based on the first wireless communication manner, wherein the first partial code stream includes at least the base layer code stream;

acquiring a second partial code stream in the multi-layer code stream transmitted by the movable platform based on the second wireless communication manner, wherein the second partial code stream includes at least the enhancement layer code stream;

Decoding the first partial code stream to obtain a first image frame, and displaying the first image frame;

Decoding the second partial code stream to obtain a second image frame, and outputting the second image frame;

Wherein, the first transmission delay corresponding to the first wireless communication mode is smaller than the second transmission delay corresponding to the second wireless communication mode.
The terminal device according to claim 76, wherein the first transmission data volume corresponding to the first wireless communication mode is smaller than the second transmission data volume corresponding to the second wireless communication mode.
The terminal device according to claim 76, wherein the first wireless communication mode is a private communication mode, and the second communication mode is a public communication mode.
The terminal device according to claim 78, wherein the public communication method includes 4G communication or 5G communication.
The terminal device according to claim 76, wherein the hierarchical coding comprises spatial hierarchical coding, and the first resolution of the image frame obtained by decoding the base layer code stream is smaller than that of the image obtained by decoding the enhancement layer code stream The second resolution of the frame.
The terminal device according to claim 76, wherein the hierarchical coding comprises temporal hierarchical coding, and the first frame rate of the image frame obtained by decoding the base layer code stream is smaller than that of the image obtained by decoding the enhancement layer code stream The second frame rate of the frame.
The terminal device according to claim 76, wherein the hierarchical coding comprises signal-to-noise ratio hierarchical coding, and the first image quality of the image frame obtained by decoding the base layer code stream is lower than that obtained by decoding the enhancement layer code stream. The second image quality of the image frame.
The terminal device according to claim 76, wherein the first code rate corresponding to the base layer code stream is smaller than the second code rate corresponding to the enhancement layer code stream.
The terminal device according to claim 76, wherein the first code rate corresponding to the base layer code stream is determined according to the channel bandwidth of the wireless channel corresponding to the first wireless communication mode.
The terminal device according to claim 84, wherein the first code rate corresponding to the base layer code stream is less than or equal to the maximum code rate determined according to the channel bandwidth of the wireless channel corresponding to the first wireless communication mode.
The terminal device according to claim 76, wherein the second code rate of the enhancement layer code stream is determined according to the channel bandwidth of the wireless channel corresponding to the second wireless communication mode.
The terminal device according to claim 86, wherein the second code rate of the enhancement layer code stream is less than or equal to the maximum code rate determined according to the channel bandwidth of the wireless channel corresponding to the second wireless communication mode.
The terminal device according to any one of claims 76-87, wherein the first partial code stream and the second partial code stream are different, and the first partial code stream and the second partial code stream are different Streams do not intersect.
The terminal device according to claim 88, wherein the enhancement layer code stream is a multi-layer enhancement layer code stream, the first partial code stream includes the base layer code stream, and the second partial code stream includes the multi-layer enhancement layer code stream.
The terminal device according to claim 89, wherein when the processor decodes the first partial code stream to obtain the first image frame, the processor is configured to:

Decoding the base layer code stream to obtain a first image frame;

When the processor decodes the second partial code stream to obtain the second image frame, the processor is used to implement:

According to the first image frame, the multi-layer enhancement layer code stream is decoded to obtain a second image frame.
The terminal device according to claim 88, wherein the enhancement layer code stream is a multi-layer enhancement layer code stream, and the multi-layer enhancement layer code stream comprises a first part of the enhancement layer code stream and a second part of the enhancement layer code stream The first partial code stream includes the base layer code stream and the first partial enhancement layer code stream, and the second partial code stream includes the second partial enhancement layer code stream.
The terminal device according to claim 91, wherein when the processor decodes the first partial code stream to obtain the first image frame, the processor is configured to:

Decoding the base layer code stream to obtain a third image frame;

decoding the first part of the enhancement layer code stream according to the third image frame to obtain a first image frame;

When the processor decodes the second partial code stream to obtain the second image frame, the processor is used to implement:

According to the first image frame, the second part of the enhancement layer code stream is decoded to obtain a second image frame.
The terminal device according to claim 91, wherein the level of the first part of the enhancement layer is lower than the level of the code stream of the second part of the enhancement layer.
The terminal device according to claim 91, wherein the code rate corresponding to the first part of the enhancement layer is smaller than the code rate corresponding to the code stream of the second part of the enhancement layer.
The terminal device according to any one of claims 76-87, wherein the first partial code stream and the second partial code stream are different, and the first partial code stream and the second partial code stream are different Flows intersect.
The terminal device according to claim 95, wherein the enhancement layer code stream is a multi-layer enhancement layer code stream, and the multi-layer enhancement layer code stream comprises a first part of the enhancement layer code stream and a second part of the enhancement layer code stream The first partial code stream includes the base layer code stream and the first partial enhancement layer code stream, and the second partial code stream includes the multi-layer enhancement layer code stream.
The terminal device according to claim 96, wherein when the processor decodes the first partial code stream to obtain the first image frame, the processor is configured to:

Decoding the base layer code stream to obtain a third image frame;

decoding the first part of the enhancement layer code stream according to the third image frame to obtain a first image frame;

When the processor decodes the second partial code stream to obtain the second image frame, the processor is used to implement:

According to the third image frame, the multi-layer enhancement layer code stream is decoded to obtain a second image frame.
The terminal device according to claim 95, wherein the enhancement layer code stream is a multi-layer enhancement layer code stream, the first partial code stream includes the base layer code stream, and the second partial code stream includes the base layer code stream and the multi-layer enhancement layer code stream.
The terminal device according to claim 98, wherein when the processor decodes the first partial code stream to obtain the first image frame, the processor is configured to:

Decoding the base layer code stream to obtain a first image frame;

When the processor decodes the second partial code stream to obtain the second image frame, the processor is used to implement:

Decoding the base layer code stream to obtain a first image frame;

According to the first image frame, the multi-layer enhancement layer code stream is decoded to obtain a second image frame.
The terminal device according to any one of claims 76-87, wherein, when the processor outputs the second image frame, the processor is configured to:

Send the second image frame to the live server.
An image transmission system, characterized in that the image transmission system comprises the movable platform described in any one of claims 51-75 and the terminal device described in any one of claims 76-100, and the movable platform described in any one of claims 76-100. The mobile platform can communicate with the terminal device through the first wireless communication manner and the second wireless communication manner.
A computer-readable storage medium, characterized in that, the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the processor implements the method described in any one of claims 1-50. The steps of the image transmission method described above.