WO2024032566A1 - Unmanned aerial vehicle video transmission method and system, and computer readable storage medium - Google Patents
Unmanned aerial vehicle video transmission method and system, and computer readable storage medium Download PDFInfo
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- 230000005540 biological transmission Effects 0.000 title claims abstract description 86
- 238000000034 method Methods 0.000 title claims abstract description 48
- 238000004891 communication Methods 0.000 claims abstract description 50
- 238000005538 encapsulation Methods 0.000 claims description 10
- 238000012544 monitoring process Methods 0.000 claims description 4
- 230000000977 initiatory effect Effects 0.000 abstract 1
- 238000004590 computer program Methods 0.000 description 5
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/183—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source
- H04N7/185—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source from a mobile camera, e.g. for remote control
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N19/00—Methods or arrangements for coding, decoding, compressing or decompressing digital video signals
- H04N19/40—Methods or arrangements for coding, decoding, compressing or decompressing digital video signals using video transcoding, i.e. partial or full decoding of a coded input stream followed by re-encoding of the decoded output stream
Definitions
- the present invention relates to the technical field of drones, and in particular to a drone image transmission method, system and computer-readable storage medium.
- drones With the continuous development of drone technology, the application methods of drones are becoming more and more abundant, such as using drones to detect marine landform information, detect dangerous industries, agricultural sowing and irrigation, intelligence detection and aerial photography, etc. .
- Drone aerial photography generally uses a video camera to capture images, and then provides users with real-time aerial footage from the drone's perspective through network communication.
- Part of the current UAV image transmission method is that the wireless signal transmitted by the drone through the remote control is transmitted back to the image transmission.
- This solution relies on the remote control and cannot achieve effects such as simultaneous playback on multiple terminals, and some image transmission protocols use TCP transmission protocol. Although using this transmission protocol for image transmission ensures that no packets are lost in image transmission, it can also easily cause problems such as accumulated delay in image transmission.
- the purpose of the present invention is to provide a UAV image transmission method, system and computer-readable storage medium to solve the problem of poor smoothness of the video picture transmitted back through the remote control and easy image transmission.
- a UAV image transmission method which method includes the following steps:
- the communication module receives the first video data information and encapsulates it according to the streaming media protocol to obtain the second video data information in the image transmission encapsulation protocol format;
- the server receives the second video data information, and transcodes the second video data information as needed and transmits it to the flv video storage module and/or the sending module requested by the client;
- the client initiates a request to the server as needed to obtain and play the image transmission of the drone.
- a UAV image transmission system uses the steps in the above-mentioned UAV image transmission method.
- the system includes: a UAV camera. , communication module, server and client;
- the drone camera is configured to collect picture video data information, and encode the picture video data information into first video data information in a specific format
- the communication module is configured to receive the first video data information and encapsulate it according to the streaming media protocol to obtain the second video data information in the image transmission encapsulation protocol format; encapsulate the said first video data information into The second video data information in the protocol format is transmitted to the server;
- the server is configured to monitor the instruction information of each sending module, and control the sending module to output corresponding data information according to the instruction information;
- the client is configured to initiate a request to the server to obtain and play the image transmission of the drone.
- embodiments of the present invention also provide a computer-readable storage medium, which includes a processor, a computer-readable storage medium, and a computer program stored on the computer-readable storage medium.
- the computer program is implemented when executed by the processor. The steps in the UAV image transmission method are as described above.
- the UAV image transmission method collects picture video data information through the UAV camera, and encodes the picture video data information.
- the first video data information in a specific format is transmitted to the communication module; the communication module receives the first video data information and encapsulates it according to the streaming media protocol to obtain the second video data information in the image transmission encapsulation protocol format; and according to the received
- the different data transmission instructions transmit the second video data information encapsulated in the protocol format to the server; the server receives the second video data information, and transcodes the second video data information on demand and transmits it to flv video storage module and/or a sending module requested by the client; the client initiates a request to the server as needed to obtain and play the image transmission of the drone, thereby ensuring the smoothness of the picture and video data while having low latency. Has a better user experience.
- Figure 1 is a method flow chart of a UAV image transmission method provided by Embodiment 1 of the present invention.
- FIG. 2 is a flow chart of the image transmission method for UAVs provided in Embodiment 1 of the present invention.
- FIG 3 is a structural block diagram of a UAV image transmission system provided in Embodiment 2 of the present invention.
- An embodiment of the present invention provides a UAV image transmission method. Please refer to Figures 1 and 2.
- the UAV image transmission method includes the following steps:
- S101 Collect frame video data information through the drone camera, and encode the frame video data information into first video data information in a specific format and transmit it to the communication module.
- the frame video data information is collected through the drone camera, and the frame video data information is encoded into first video data information in H265 format and transmitted to the communication module.
- the communication module receives the first video data information and encapsulates it according to the streaming media protocol to obtain the second video data information in the image transmission encapsulation protocol format.
- the communication module receives the first video data information and encapsulates the first video data information into second video data information in MPEG2-TS format according to the streaming media protocol.
- S103 Transmit the second video data information encapsulated in the protocol format to the server according to the different data transmission instructions received. Specifically, when the communication module receives the server's start pushing instruction, it sends video data information to the server through the SRT protocol; when the communication module receives the server's stop pushing instruction, it stops sending video data information to the server through the SRT protocol.
- the step before transmitting the second video data information encapsulated in a protocol format to the server according to the different data transmission instructions received, the step further includes: the communication module logs in to the server.
- the communication module needs to log in to the server through a specific account, password or IP address before it can communicate and transmit data information with the server.
- the server receives the second video data information, and transcodes the second video data information as needed and transmits it to the flv video storage module and/or the sending module requested by the client. Specifically, the server monitors the sending information and request information of each module. If a client connects to pull the stream, it sends a start push instruction signal to the corresponding communication module. After all clients are disconnected, it sends a stop push signal to the communication module. stream command signal.
- the server When the server receives the client's SRT request or WebRtc request, the server receives the second video data information, and transcodes the second video data information on demand and transmits it to the flv video storage module and/or sends the client's request. module.
- the second video data information is transcoded on demand and transmitted to the WebRtc sending module; and/or the second video data information is transcoded on demand and transmitted to the SRT sending module.
- the client initiates a request to the server as needed to obtain and play the image transmission of the drone.
- the client's windows ground station connects to the drone according to the drone's unique identification code, it initiates an SRT request to the server to obtain and play the drone's image transmission; After connecting to the drone with the unique identification code, it initiates a WebRtc request to the server to obtain and play the image transmission of the drone.
- the UAV image transmission method described in the embodiment of the present invention realizes the transmission of video data information through the public 4G network without the need for additional signal transmitters, and the entire signal transmission process is based on UDP (abbreviation of User Datagram Protocol, User Data Packet Protocol) video
- UDP abbreviation of User Datagram Protocol, User Data Packet Protocol
- the transmission protocol can ensure smooth video data and low latency.
- the push flow of the communication module can be turned off to save traffic.
- An embodiment of the present invention also provides a UAV image transmission system. Please refer to Figure 3.
- the UAV image transmission system includes a UAV camera 10, a communication module 20, a server 30 and a client 40 that communicate and interact with each other. ;in,
- the UAV camera 10 is used to collect frame video data information and encode the frame video data information into first video data information in a specific format.
- the drone camera 10 collects the frame video data information, it encodes the frame video data information into first video data information in H265 format, and transmits the first video data information to the communication module 20 .
- the communication module 20 is used to receive the first video data information and encapsulate it according to the streaming media protocol to obtain the second video data information in the image transmission encapsulation protocol format; encapsulate the said first video data information according to the different data transmission instructions received.
- the second video data information in the protocol format is transmitted to the server 30 .
- the communication module 20 After receiving the transcoded frame video data information obtained by the drone camera, the communication module 20 encapsulates the frame video data information into second video data information in MPEG2-TS format. .
- the communication module When the communication module receives the server's start pushing instruction, it sends video data information to the server through the SRT protocol; when the communication module receives the server's stop pushing instruction, it stops sending video data information to the server through the SRT protocol.
- the server 30 is used to monitor the instruction information of each sending module, and control the sending module to output corresponding data information according to the instruction information.
- the server 30 monitors the sending information and request information of each module. If a client connects to pull the stream, it sends a start streaming instruction signal to the corresponding communication module. After all the requests from the clients 40 are disconnected, it sends a streaming instruction signal to the communication module. The module sends a stop push instruction signal.
- the server 30 When the server 30 receives the SRT request or WebRtc request from the client 40, the server receives the second video data information, and transcodes the second video data information on demand and transmits it to the flv video storage module and/or the client.
- the requested sending module When the server 30 receives the SRT request or WebRtc request from the client 40, the server receives the second video data information, and transcodes the second video data information on demand and transmits it to the flv video storage module and/or the client.
- the requested sending module The requested sending module.
- the server 30 includes a communication control module 301, an SRT receiving module 302, a flv video storage module 303, a WebRtc sending module 304 and an SRT sending module 305 respectively connected to the SRT receiving module 302.
- the communication control module 301 is used to control the communication module 20 to communicate with the server 30 according to its own protocol.
- the SRT receiving module 302 is used to receive the second video data information.
- the flv video storage module 303 is used to store the transcoded second video data information in the database, and provide interfaces for querying video lists and playing history videos.
- the WebRtc sending module 304 is used to receive the WebRtc request initiated by the web-side monitoring page and send the image transmission of the drone.
- the SRT sending module 305 is used to receive the SRT request initiated by the windows ground station and send the image transmission of the drone.
- the client 40 is used to initiate a request to the server 30 to obtain and play the image transmission of the drone.
- the client 40 includes a client windows ground station that, after connecting to the drone according to the unique identification code of the drone, initiates an SRT request to the server to obtain and play the image transmission of the drone.
- the client's web-side monitoring page After the client's web-side monitoring page connects to the drone based on the drone's unique identification code, it initiates a WebRtc request to the server to obtain and play the drone's image transmission.
- the UAV image transmission system described in the embodiment of this application performs network communication and data information transmission through the public network 4G, without the need for additional signal transmitters; and the entire solution uses UDP (abbreviation for User Datagram Protocol, User Data Packet Protocol)
- UDP abbreviation for User Datagram Protocol, User Data Packet Protocol
- the video transmission protocol ensures a smooth picture while having a low delay, and is compatible with different protocols required by the client to achieve communication transmission. It has high scalability and can process videos in the server according to business needs.
- the data information is processed in various ways, and when there is no request from the client, the push flow of the communication module can be turned off to save traffic.
- An embodiment of the present invention provides a computer-readable storage medium on which a computer program is stored.
- the steps in the above UAV image transmission method are implemented. The specific steps are as described in Embodiment 1. , and will not be repeated here.
- the memory in this embodiment can be used to store software programs and various data.
- the memory may mainly include a stored program area and a stored data area, wherein the stored program area may store an operating system, at least one application required for a function, etc.; the stored data area may store data created based on the use of the mobile phone, etc.
- the memory may include high-speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other volatile solid-state storage device.
- all or part of the processes in the method of the above embodiment can be completed by instructing relevant hardware through a computer program.
- the program can be stored in a computer-readable storage medium.
- the program can be stored in a storage medium of a computer system and executed by at least one processor in the computer system to implement processes including the embodiments of the above methods.
- the storage media includes but is not limited to magnetic disks, USB flash drives, optical disks, read-only memory (Read-Only Memory, ROM), etc.
- the methods of the above embodiments can be implemented by means of software plus the necessary general hardware platform. Of course, it can also be implemented by hardware, but in many cases the former is better. implementation.
- the technical solution of the present invention can be embodied in the form of a software product in essence or that contributes to the existing technology.
- the computer software product is stored in a storage medium (such as ROM/RAM, disk, CD), including several instructions to cause a terminal (which can be a mobile phone, a computer, a server, an air conditioner, or a network device, etc.) to execute the methods described in various embodiments of the present invention.
- the UAV image transmission method collects picture video data information through the UAV camera, and encodes the picture video data information.
- the first video data information in a specific format is transmitted to the communication module; the communication module receives the first video data information and encapsulates it according to the streaming media protocol to obtain the second video data information in the image transmission encapsulation protocol format; and according to the received
- the different data transmission instructions transmit the second video data information encapsulated in the protocol format to the server; the server receives the second video data information, and transcodes the second video data information on demand and transmits it to flv video storage module and/or a sending module requested by the client; the client initiates a request to the server as needed to obtain and play the image transmission of the drone, thereby ensuring the smoothness of the picture and video data while having low latency. Has a better user experience. Therefore, it has industrial practicality.
Abstract
The present invention relates to the technical field of unmanned aerial vehicles, and provides an unmanned aerial vehicle video transmission method and system, and a computer readable storage medium. The method comprises: an unmanned aerial vehicle camera collecting picture video data information, and encoding same into first video data information in a specific format to be transmitted to a communication module (S101); the communication module receiving the first video data information and encapsulating same according to a streaming media protocol to obtain second video data information (S102); transmitting the second video data information to a server according to received different data transmission instructions (S103); the server receiving the second video data information, transcoding the second video data information as required, and transmitting the transcoded second video data information to an flv video storage module and/or a client request sending module (S104); a client initiating a request to the server as required, and acquiring and playing back a transmitted video of the unmanned aerial vehicle (S105). Thus, the delay is low while ensuring the smoothness of picture video data.
Description
本发明涉及无人机技术领域，尤其涉及一种无人机图传方法、系统及计算机可读存储介质。The present invention relates to the technical field of drones, and in particular to a drone image transmission method, system and computer-readable storage medium.
随着无人机技术的不断发展，无人机的应用方式也越来越丰富，例如应用无人机进行海洋地貌信息的侦测、危险行业的探测、农业播种及灌溉、情报探测以及航拍等。With the continuous development of drone technology, the application methods of drones are becoming more and more abundant, such as using drones to detect marine landform information, detect dangerous industries, agricultural sowing and irrigation, intelligence detection and aerial photography, etc. .
无人机的航拍一般是利用一个图传摄像头来捕捉图像，然后通过网络通讯为用户提供无人机视角的实时航拍画面。当前无人机图传的方式一部分为无人机通过遥控器发射的无线信号传回图传，此方案依赖于遥控器，并且无法做到多端同时播放等效果，且一部分的图传传输协议使用TCP传输协议，采用该传输协议进行图传虽然保证了图传不丢包，但是也容易造成图传累积时延等问题。Drone aerial photography generally uses a video camera to capture images, and then provides users with real-time aerial footage from the drone's perspective through network communication. Part of the current UAV image transmission method is that the wireless signal transmitted by the drone through the remote control is transmitted back to the image transmission. This solution relies on the remote control and cannot achieve effects such as simultaneous playback on multiple terminals, and some image transmission protocols use TCP transmission protocol. Although using this transmission protocol for image transmission ensures that no packets are lost in image transmission, it can also easily cause problems such as accumulated delay in image transmission.
有鉴于此，本发明的目的在于提供一种无人机图传方法、系统及计算机可读存储介质，以解决现有通过遥控器传回图像，视频画面流畅性不佳，图传传输容易造成图传累积时延的问题。In view of this, the purpose of the present invention is to provide a UAV image transmission method, system and computer-readable storage medium to solve the problem of poor smoothness of the video picture transmitted back through the remote control and easy image transmission. The problem of accumulated delay in image transmission.
本发明解决上述技术问题所采用的技术方案如下：The technical solutions adopted by the present invention to solve the above technical problems are as follows:
根据本发明的第一方面，提供一种无人机图传方法，所述方法包括如下步骤：According to a first aspect of the present invention, a UAV image transmission method is provided, which method includes the following steps:
通过无人机相机采集画面视频数据信息，将所述画面视频数据信息编码成特定格式的第一视频数据信息传输给通讯模块；Collect frame video data information through the drone camera, and encode the frame video data information into first video data information in a specific format and transmit it to the communication module;
通讯模块接收所述第一视频数据信息并根据流媒体协议进行封装，以获得图传封装协议格式的第二视频数据信息；The communication module receives the first video data information and encapsulates it according to the streaming media protocol to obtain the second video data information in the image transmission encapsulation protocol format;
根据接收到的不同数据传输指令将所述封装成协议格式的第二视频数据信息传输至服务器；Transmit the second video data information encapsulated in the protocol format to the server according to the different data transmission instructions received;
服务器接收所述第二视频数据信息，并把所述第二视频数据信息按需转码传输给flv视频存储模块和/或客户端请求的发送模块；The server receives the second video data information, and transcodes the second video data information as needed and transmits it to the flv video storage module and/or the sending module requested by the client;
客户端根据需要向服务器发起请求，获取并播放所述无人机的图传。The client initiates a request to the server as needed to obtain and play the image transmission of the drone.
根据本发明的第二方面，还提供一种无人机图传系统，所述无人机图传系统使用上述所述无人机图传方法中的步骤，所述系统包括：无人机相机、通讯模块、服务器以及客户端；According to a second aspect of the present invention, a UAV image transmission system is also provided. The UAV image transmission system uses the steps in the above-mentioned UAV image transmission method. The system includes: a UAV camera. , communication module, server and client;
所述无人机相机，设置为采集画面视频数据信息，将所述画面视频数据信息编码成特定格式的第一视频数据信息；The drone camera is configured to collect picture video data information, and encode the picture video data information into first video data information in a specific format;
所述通讯模块，设置为接收所述第一视频数据信息并根据流媒体协议进行封装，以获得图传封装协议格式的第二视频数据信息；根据接收到的不同数据传输指令将所述封装成协议格式的第二视频数据信息传输至服务器；The communication module is configured to receive the first video data information and encapsulate it according to the streaming media protocol to obtain the second video data information in the image transmission encapsulation protocol format; encapsulate the said first video data information into The second video data information in the protocol format is transmitted to the server;
所述服务器，设置为监听各发送模块的指令信息，并根据指令信息进行控制发送模块输出相对应的数据信息；The server is configured to monitor the instruction information of each sending module, and control the sending module to output corresponding data information according to the instruction information;
所述客户端，设置为向服务器发起请求，获取并播放所述无人机的图传。The client is configured to initiate a request to the server to obtain and play the image transmission of the drone.
此外，本发明实施例还提供一种计算机可读存储介质，包括处理器、计算机可读存储介质以及在所述计算机可读存储介质上存储的计算机程序，所述计算机程序被处理器执行时实现如上述所述无人机图传方法中的步骤。In addition, embodiments of the present invention also provide a computer-readable storage medium, which includes a processor, a computer-readable storage medium, and a computer program stored on the computer-readable storage medium. The computer program is implemented when executed by the processor. The steps in the UAV image transmission method are as described above.
本发明实施例提供的所述无人机图传方法、系统及计算机可读存储介质，所述无人机图传方法通过无人机相机采集画面视频数据信息，将所述画面视频数据信息编码成特定格式的第一视频数据信息传输给通讯模块；通讯模块接收所述第一视频数据信息并根据流媒体协议进行封装，以获得图传封装协议格式的第二视频数据信息；并根据接收到的不同数据传输指令将所述封装成协议格式的第二视频数据信息传输至服务器；服务器接收所述第二视频数据信息，并把所述第二视频数据信息按需转码传输给flv视频存储模块和/或客户端请求的发送模块；客户端根据需要向服务器发起请求，获取并播放所述无人机的图传，从而在确保画面视频数据流畅的同时，拥有较低的延时性，具有较好的用户使用体验感。The UAV image transmission method, system and computer-readable storage medium provided by the embodiment of the present invention. The UAV image transmission method collects picture video data information through the UAV camera, and encodes the picture video data information. The first video data information in a specific format is transmitted to the communication module; the communication module receives the first video data information and encapsulates it according to the streaming media protocol to obtain the second video data information in the image transmission encapsulation protocol format; and according to the received The different data transmission instructions transmit the second video data information encapsulated in the protocol format to the server; the server receives the second video data information, and transcodes the second video data information on demand and transmits it to flv video storage module and/or a sending module requested by the client; the client initiates a request to the server as needed to obtain and play the image transmission of the drone, thereby ensuring the smoothness of the picture and video data while having low latency. Has a better user experience.
图1为本发明实施例一提供的一种无人机图传方法的方法流程图。Figure 1 is a method flow chart of a UAV image transmission method provided by Embodiment 1 of the present invention.
图2为本发明实施例一提供的无人机图传方法的拉取图传流程图。Figure 2 is a flow chart of the image transmission method for UAVs provided in Embodiment 1 of the present invention.
图3为本发明实施例二提供的无人机图传系统的结构框图。Figure 3 is a structural block diagram of a UAV image transmission system provided in Embodiment 2 of the present invention.
为了使本发明所要解决的技术问题、技术方案及有益效果更加清楚、明白，以下结合附图和实施例，对本发明进行进一步详细说明。应当理解，此处所描述的具体实施例仅仅用以解释本发明，并不用于限定本发明。In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention clearer and clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention and are not intended to limit the present invention.
在后续的描述中，使用用于表示元件的诸如“模块”、“部件”或“单元”的后缀仅为了有利于本发明的说明，其本身没有特定的意义。因此，“模块”、“部件”或“单元”可以混合地使用。In the following description, suffixes such as "module", "component" or "unit" used to represent elements are only used to facilitate the description of the present invention and have no specific meaning in themselves. Therefore, "module", "component" or "unit" may be used interchangeably.
后续描述中将以系统/终端为例进行说明，本领域技术人员将理解的是，除了特别用于移动目的的元件之外，根据本发明的实施方式的构造也能够应用于固定类型的终端。In the subsequent description, a system/terminal will be taken as an example. Those skilled in the art will understand that, in addition to elements specifically used for mobile purposes, the structures according to embodiments of the present invention can also be applied to fixed-type terminals.
实施例一Embodiment 1
本发明实施例提供一种无人机图传方法，请参阅图1及图2，所述无人机图传方法包括如下步骤：An embodiment of the present invention provides a UAV image transmission method. Please refer to Figures 1 and 2. The UAV image transmission method includes the following steps:
S101、通过无人机相机采集画面视频数据信息，将所述画面视频数据信息编码成特定格式的第一视频数据信息传输给通讯模块。S101. Collect frame video data information through the drone camera, and encode the frame video data information into first video data information in a specific format and transmit it to the communication module.
具体地，通过无人机相机采集画面视频数据信息，将所述画面视频数据信息编码成H265格式的第一视频数据信息传输给通讯模块。Specifically, the frame video data information is collected through the drone camera, and the frame video data information is encoded into first video data information in H265 format and transmitted to the communication module.
S102、通讯模块接收所述第一视频数据信息并根据流媒体协议进行封装，以获得图传封装协议格式的第二视频数据信息。S102. The communication module receives the first video data information and encapsulates it according to the streaming media protocol to obtain the second video data information in the image transmission encapsulation protocol format.
具体地，通讯模块接收所述第一视频数据信息，将所述第一视频数据信息根据流媒体协议进行封装成MPEG2-TS格式的第二视频数据信息。Specifically, the communication module receives the first video data information and encapsulates the first video data information into second video data information in MPEG2-TS format according to the streaming media protocol.
S103、根据接收到的不同数据传输指令将所述封装成协议格式的第二视频数据信息传输至服务器。具体地，当通讯模块接收到服务器的开始推流指令后，通过SRT协议向服务器发送视频数据信息；当通讯模块接收到服务器的停止推流指令后，通过SRT协议向服务器停止发送视频数据信息。S103. Transmit the second video data information encapsulated in the protocol format to the server according to the different data transmission instructions received. Specifically, when the communication module receives the server's start pushing instruction, it sends video data information to the server through the SRT protocol; when the communication module receives the server's stop pushing instruction, it stops sending video data information to the server through the SRT protocol.
在一实施例中，所述根据接收到的不同数据传输指令将所述封装成协议格式的第二视频数据信息传输至服务器之前还包括步骤：通讯模块登录到服务器。In one embodiment, before transmitting the second video data information encapsulated in a protocol format to the server according to the different data transmission instructions received, the step further includes: the communication module logs in to the server.
具体地，通讯模块需要通过特定的账号、密码或IP地址登录到服务器之后，才能与服务器之间进行数据信息的通讯传输。Specifically, the communication module needs to log in to the server through a specific account, password or IP address before it can communicate and transmit data information with the server.
S104、服务器接收所述第二视频数据信息，并把所述第二视频数据信息按需转码传输给flv视频存储模块和/或客户端请求的发送模块。具体的，服务器监听各个模块的发送信息及请求信息，如有客户端连接拉流，则向对应的通讯模块发送开始推流指令信号，待全部客户端都断开后，向通讯模块发送停止推流指令信号。S104. The server receives the second video data information, and transcodes the second video data information as needed and transmits it to the flv video storage module and/or the sending module requested by the client. Specifically, the server monitors the sending information and request information of each module. If a client connects to pull the stream, it sends a start push instruction signal to the corresponding communication module. After all clients are disconnected, it sends a stop push signal to the communication module. stream command signal.
当服务器接收到客户端的SRT请求或WebRtc请求时，服务器接收所述第二视频数据信息，并把所述第二视频数据信息按需转码传输给flv视频存储模块和/或客户端请求的发送模块。When the server receives the client's SRT request or WebRtc request, the server receives the second video data information, and transcodes the second video data information on demand and transmits it to the flv video storage module and/or sends the client's request. module.
具体地，将所述第二视频数据信息按需转码并传输给WebRtc发送模块；和/或将所述第二视频数据信息按需转码并传输给SRT发送模块。Specifically, the second video data information is transcoded on demand and transmitted to the WebRtc sending module; and/or the second video data information is transcoded on demand and transmitted to the SRT sending module.
S105、客户端根据需要向服务器发起请求，获取并播放所述无人机的图传。S105. The client initiates a request to the server as needed to obtain and play the image transmission of the drone.
具体包括：客户端的windows地面站根据无人机的唯一识别标识码连接到无人机后，向服务器发起SRT请求，获取并播放无人机的图传；客户端的web端监控页面根据无人机的唯一识别标识码连接到无人机后，向服务器发起WebRtc请求，获取并播放无人机的图传。Specifically, it includes: after the client's windows ground station connects to the drone according to the drone's unique identification code, it initiates an SRT request to the server to obtain and play the drone's image transmission; After connecting to the drone with the unique identification code, it initiates a WebRtc request to the server to obtain and play the image transmission of the drone.
本发明实施例所述无人机图传方法通过公网4G网络实现视频数据信息的传输，无需额外信号发射器，且整个信号传输过程是基于UDP（UserDatagramProtocol的缩写，用户数据包协议）的视频传输协议，能确保画面视频数据流畅的同时，也可以拥有较低的延时性。而且在无客户端请求时可以关闭通讯模块的推流，节省流量。The UAV image transmission method described in the embodiment of the present invention realizes the transmission of video data information through the public 4G network without the need for additional signal transmitters, and the entire signal transmission process is based on UDP (abbreviation of User Datagram Protocol, User Data Packet Protocol) video The transmission protocol can ensure smooth video data and low latency. Moreover, when there is no client request, the push flow of the communication module can be turned off to save traffic.
实施例二Embodiment 2
本发明实施例还提供一种无人机图传系统，请参阅图3，所述无人机图传系统包括相互进行通讯交互的无人机相机10、通讯模块20、服务器30以及客户端40；其中，An embodiment of the present invention also provides a UAV image transmission system. Please refer to Figure 3. The UAV image transmission system includes a UAV camera 10, a communication module 20, a server 30 and a client 40 that communicate and interact with each other. ;in,
所述无人机相机10，用于采集画面视频数据信息，将所述画面视频数据信息编码成特定格式的第一视频数据信息。The UAV camera 10 is used to collect frame video data information and encode the frame video data information into first video data information in a specific format.
具体地，无人机相机10采集画面画面视频数据信息后，将画面视频数据信息编码为H265格式的第一视频数据信息，并该所述第一视频数据信息传输给通讯模块20。Specifically, after the drone camera 10 collects the frame video data information, it encodes the frame video data information into first video data information in H265 format, and transmits the first video data information to the communication module 20 .
所述通讯模块20，用于接收所述第一视频数据信息并根据流媒体协议进行封装，以获得图传封装协议格式的第二视频数据信息；根据接收到的不同数据传输指令将所述封装成协议格式的第二视频数据信息传输至服务器30。The communication module 20 is used to receive the first video data information and encapsulate it according to the streaming media protocol to obtain the second video data information in the image transmission encapsulation protocol format; encapsulate the said first video data information according to the different data transmission instructions received. The second video data information in the protocol format is transmitted to the server 30 .
具体的，所述通讯模块20接收到所述无人机相机获取的转码形成的画面视频数据信息后，将所述画面视频数据信息进行封装，封装为MPEG2-TS格式的第二视频数据信息。Specifically, after receiving the transcoded frame video data information obtained by the drone camera, the communication module 20 encapsulates the frame video data information into second video data information in MPEG2-TS format. .
当通讯模块接收到服务器的开始推流指令后，通过SRT协议向服务器发送视频数据信息；当通讯模块接收到服务器的停止推流指令后，通过SRT协议向服务器停止发送视频数据信息。When the communication module receives the server's start pushing instruction, it sends video data information to the server through the SRT protocol; when the communication module receives the server's stop pushing instruction, it stops sending video data information to the server through the SRT protocol.
所述服务器30，用于监听各发送模块的指令信息，并根据指令信息进行控制发送模块输出相对应的数据信息。The server 30 is used to monitor the instruction information of each sending module, and control the sending module to output corresponding data information according to the instruction information.
具体的，服务器30监听各个模块的发送信息及请求信息，如有客户端连接拉流，则向对应的通讯模块发送开始推流指令信号，待全部客户端40的请求都断开后，向通讯模块发送停止推流指令信号。Specifically, the server 30 monitors the sending information and request information of each module. If a client connects to pull the stream, it sends a start streaming instruction signal to the corresponding communication module. After all the requests from the clients 40 are disconnected, it sends a streaming instruction signal to the communication module. The module sends a stop push instruction signal.
当服务器30接收到客户端40的SRT请求或WebRtc请求时，服务器接收所述第二视频数据信息，并把所述第二视频数据信息按需转码传输给flv视频存储模块和/或客户端请求的发送模块。When the server 30 receives the SRT request or WebRtc request from the client 40, the server receives the second video data information, and transcodes the second video data information on demand and transmits it to the flv video storage module and/or the client. The requested sending module.
在一实施例中，所述服务器30包括通讯控制模块301、SRT接收模块302、以及分别与SRT接收模块302连接的flv视频存储模块303、WebRtc发送模块304和SRT发送模块305。In one embodiment, the server 30 includes a communication control module 301, an SRT receiving module 302, a flv video storage module 303, a WebRtc sending module 304 and an SRT sending module 305 respectively connected to the SRT receiving module 302.
所述通讯控制模块301，用于根据自有协议控制所述通讯模块20与服务器30进行通讯。The communication control module 301 is used to control the communication module 20 to communicate with the server 30 according to its own protocol.
所述SRT接收模块302，用于接收所述第二视频数据信息。The SRT receiving module 302 is used to receive the second video data information.
所述flv视频存储模块303，用于将进行转码后的第二视频数据信息存入数据库，并提供查询视频列表及播放历史视频接口。The flv video storage module 303 is used to store the transcoded second video data information in the database, and provide interfaces for querying video lists and playing history videos.
所述WebRtc发送模块304，用于接收web端监控页面发起的WebRtc请求，并发送无人机的图传。The WebRtc sending module 304 is used to receive the WebRtc request initiated by the web-side monitoring page and send the image transmission of the drone.
所述SRT发送模块305，用于接收windows地面站发起的SRT请求，并发送无人机的图传。The SRT sending module 305 is used to receive the SRT request initiated by the windows ground station and send the image transmission of the drone.
所述客户端40，用于向服务器30发起请求，获取并播放所述无人机的图传。The client 40 is used to initiate a request to the server 30 to obtain and play the image transmission of the drone.
具体地，所述客户端40包括客户端的windows地面站根据无人机的唯一识别标识码连接到无人机后，向服务器发起SRT请求，获取并播放无人机的图传。Specifically, the client 40 includes a client windows ground station that, after connecting to the drone according to the unique identification code of the drone, initiates an SRT request to the server to obtain and play the image transmission of the drone.
客户端的web端监控页面根据无人机的唯一识别标识码连接到无人机后，向服务器发起WebRtc请求，获取并播放无人机的图传。After the client's web-side monitoring page connects to the drone based on the drone's unique identification code, it initiates a WebRtc request to the server to obtain and play the drone's image transmission.
本申请实施例所述无人机图传系统通过公网4G进行网络通讯以及数据信息的传输，无需额外的信号发射器；且整个方案都使用基于UDP(UserDatagramProtocol的缩写，用户数据包协议)的视频传输协议，保证画面流畅的同时，可以拥有较低的延时，并且可以兼容客户端所要求的不同协议来实现通讯传输，具备较高的可扩展性，能根据业务需求在服务器中对视频数据信息做各种处理，而且在客户端无请求时可关闭通讯模块的推流，节省流量。The UAV image transmission system described in the embodiment of this application performs network communication and data information transmission through the public network 4G, without the need for additional signal transmitters; and the entire solution uses UDP (abbreviation for User Datagram Protocol, User Data Packet Protocol) The video transmission protocol ensures a smooth picture while having a low delay, and is compatible with different protocols required by the client to achieve communication transmission. It has high scalability and can process videos in the server according to business needs. The data information is processed in various ways, and when there is no request from the client, the push flow of the communication module can be turned off to save traffic.
实施例三Embodiment 3
本发明实施例提供一种计算机可读存储介质，其上存储有计算机程序，所述计算机程序被处理器执行时实现上述无人机图传方法中的步骤，具体步骤如实施例一中描述所述，在此不再赘述。An embodiment of the present invention provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the steps in the above UAV image transmission method are implemented. The specific steps are as described in Embodiment 1. , and will not be repeated here.
本实施例中的存储器可用于存储软件程序以及各种数据。存储器可主要包括存储程序区和存储数据区，其中，存储程序区可存储操作系统、至少一个功能所需的应用程序等；存储数据区可存储根据手机的使用所创建的数据等。此外，存储器可以包括高速随机存取存储器，还可以包括非易失性存储器，例如至少一个磁盘存储器件、闪存器件、或其他易失性固态存储器件。The memory in this embodiment can be used to store software programs and various data. The memory may mainly include a stored program area and a stored data area, wherein the stored program area may store an operating system, at least one application required for a function, etc.; the stored data area may store data created based on the use of the mobile phone, etc. In addition, the memory may include high-speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other volatile solid-state storage device.
根据本实施例的一个示例，上述实施例方法中的全部或部分流程，可以通过计算机程序来指令相关的硬件来完成，所述程序可存储于一计算机可读取存储介质中，如本发明实施例中，该程序可存储于计算机系统的存储介质中，并被该计算机系统中的至少一个处理器执行，以实现包括如上述各方法的实施例的流程。该存储介质包括但不限于磁碟、优盘、光盘、只读存储记忆体（Read-Only Memory，ROM）等。According to an example of this embodiment, all or part of the processes in the method of the above embodiment can be completed by instructing relevant hardware through a computer program. The program can be stored in a computer-readable storage medium. As implemented in the present invention For example, the program can be stored in a storage medium of a computer system and executed by at least one processor in the computer system to implement processes including the embodiments of the above methods. The storage media includes but is not limited to magnetic disks, USB flash drives, optical disks, read-only memory (Read-Only Memory, ROM), etc.
需要说明的是，在本文中，术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者装置不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或者装置所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括该要素的过程、方法、物品或者装置中还存在另外的相同要素。It should be noted that, in this document, the terms "comprising", "comprises" or any other variations thereof are intended to cover a non-exclusive inclusion, such that a process, method, article or device that includes a series of elements not only includes those elements, It also includes other elements not expressly listed or inherent in the process, method, article or apparatus. Without further limitation, an element defined by the statement "comprises a..." does not exclude the presence of additional identical elements in a process, method, article or apparatus that includes that element.
上述本发明实施例序号仅仅为了描述，不代表实施例的优劣。The above serial numbers of the embodiments of the present invention are only for description and do not represent the advantages and disadvantages of the embodiments.
通过以上的实施方式的描述，本领域的技术人员可以清楚地了解到上述实施例方法可借助软件加必需的通用硬件平台的方式来实现，当然也可以通过硬件，但很多情况下前者是更佳的实施方式。基于这样的理解，本发明的技术方案本质上或者说对现有技术做出贡献的部分可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质（如ROM/RAM、磁碟、光盘）中，包括若干指令用以使得一台终端（可以是手机，计算机，服务器，空调器，或者网络设备等）执行本发明各个实施例所述的方法。Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus the necessary general hardware platform. Of course, it can also be implemented by hardware, but in many cases the former is better. implementation. Based on this understanding, the technical solution of the present invention can be embodied in the form of a software product in essence or that contributes to the existing technology. The computer software product is stored in a storage medium (such as ROM/RAM, disk, CD), including several instructions to cause a terminal (which can be a mobile phone, a computer, a server, an air conditioner, or a network device, etc.) to execute the methods described in various embodiments of the present invention.
上面结合附图对本发明的实施例进行了描述，但是本发明并不局限于上述的具体实施方式，上述的具体实施方式仅仅是示意性的，而不是限制性的，本领域的普通技术人员在本发明的启示下，在不脱离本发明宗旨和权利要求所保护的范围情况下，还可做出很多形式，这些均属于本发明的保护之内。The embodiments of the present invention have been described above in conjunction with the accompanying drawings. However, the present invention is not limited to the above-mentioned specific implementations. The above-mentioned specific implementations are only illustrative and not restrictive. Those of ordinary skill in the art will Under the inspiration of the present invention, many forms can be made without departing from the spirit of the present invention and the scope protected by the claims, and these all fall within the protection of the present invention.
本发明实施例提供的所述无人机图传方法、系统及计算机可读存储介质，所述无人机图传方法通过无人机相机采集画面视频数据信息，将所述画面视频数据信息编码成特定格式的第一视频数据信息传输给通讯模块；通讯模块接收所述第一视频数据信息并根据流媒体协议进行封装，以获得图传封装协议格式的第二视频数据信息；并根据接收到的不同数据传输指令将所述封装成协议格式的第二视频数据信息传输至服务器；服务器接收所述第二视频数据信息，并把所述第二视频数据信息按需转码传输给flv视频存储模块和/或客户端请求的发送模块；客户端根据需要向服务器发起请求，获取并播放所述无人机的图传，从而在确保画面视频数据流畅的同时，拥有较低的延时性，具有较好的用户使用体验感。因此，具有工业实用性。The UAV image transmission method, system and computer-readable storage medium provided by the embodiment of the present invention. The UAV image transmission method collects picture video data information through the UAV camera, and encodes the picture video data information. The first video data information in a specific format is transmitted to the communication module; the communication module receives the first video data information and encapsulates it according to the streaming media protocol to obtain the second video data information in the image transmission encapsulation protocol format; and according to the received The different data transmission instructions transmit the second video data information encapsulated in the protocol format to the server; the server receives the second video data information, and transcodes the second video data information on demand and transmits it to flv video storage module and/or a sending module requested by the client; the client initiates a request to the server as needed to obtain and play the image transmission of the drone, thereby ensuring the smoothness of the picture and video data while having low latency. Has a better user experience. Therefore, it has industrial practicality.
Claims (10)
- 一种无人机图传方法，所述方法包括如下步骤：A UAV image transmission method, the method includes the following steps:通过无人机相机采集画面视频数据信息，将所述画面视频数据信息编码成特定格式的第一视频数据信息传输给通讯模块；Collect frame video data information through the drone camera, and encode the frame video data information into first video data information in a specific format and transmit it to the communication module;通讯模块接收所述第一视频数据信息并根据流媒体协议进行封装，以获得图传封装协议格式的第二视频数据信息；The communication module receives the first video data information and encapsulates it according to the streaming media protocol to obtain the second video data information in the image transmission encapsulation protocol format;根据接收到的不同数据传输指令将所述封装成协议格式的第二视频数据信息传输至服务器；Transmit the second video data information encapsulated in the protocol format to the server according to the different data transmission instructions received;服务器接收所述第二视频数据信息，并把所述第二视频数据信息按需转码传输给flv视频存储模块和/或客户端请求的发送模块；The server receives the second video data information, and transcodes the second video data information as needed and transmits it to the flv video storage module and/or the sending module requested by the client;客户端根据需要向服务器发起请求，获取并播放所述无人机的图传。The client initiates a request to the server as needed to obtain and play the image transmission of the drone.
- 根据权利要求1所述的无人机图传方法，其中，所述服务器接收所述第二视频数据信息，并将所述第二视频数据信息按需转码并传输给flv视频存储模块和/或客户端请求的发送模块包括：The UAV image transmission method according to claim 1, wherein the server receives the second video data information, transcodes the second video data information on demand and transmits it to the flv video storage module and/or Or the sending module requested by the client includes:将所述第二视频数据信息按需转码并传输给flv视频存储模块存储为flv格式数据信息，并存入数据库，提供查询视频列表及播放历史视频接口；和/或Transcode the second video data information on demand and transmit it to the flv video storage module, store it as flv format data information, and store it in a database to provide interfaces for querying video lists and playing history videos; and/or将所述第二视频数据信息按需转码并传输给WebRtc发送模块；和/或Transcode the second video data information on demand and transmit it to the WebRtc sending module; and/or将所述第二视频数据信息按需转码并传输给SRT发送模块。The second video data information is transcoded as needed and transmitted to the SRT sending module.
- 根据权利要求2所述的无人机图传方法，其中，所述客户端根据需要向服务器发起请求，获取并播放所述无人机的图传包括：The UAV image transmission method according to claim 2, wherein the client initiates a request to the server as needed, and obtaining and playing the image transmission of the UAV includes:windows地面站根据无人机的唯一识别标识码连接到无人机后，向服务器发起SRT请求，获取并播放无人机的图传；After the windows ground station connects to the drone based on the drone's unique identification code, it initiates an SRT request to the server to obtain and play the drone's image transmission;web端监控页面根据无人机的唯一识别标识码连接到无人机后，向服务器发起WebRtc请求，获取并播放无人机的图传。After the web-side monitoring page connects to the drone based on the drone's unique identification code, it initiates a WebRtc request to the server to obtain and play the drone's image transmission.
- 根据权利要求1所述的无人机图传方法，其中，所述通过无人机相机采集画面视频数据信息，将所述画面视频数据信息编码成特定格式的第一视频数据信息传输给通讯模块包括：The UAV image transmission method according to claim 1, wherein the picture video data information is collected by the UAV camera, and the picture video data information is encoded into a specific format of first video data information and transmitted to the communication module include:将所述画面视频数据信息编码成H265格式的第一视频数据信息传输给通讯模块。The picture video data information is encoded into first video data information in H265 format and transmitted to the communication module.
- 根据权利要求1所述的无人机图传方法，其中，所述通讯模块接收所述第一视频数据信息并根据流媒体协议进行封装，以获得图传封装协议格式的第二视频数据信息包括：The UAV image transmission method according to claim 1, wherein the communication module receives the first video data information and encapsulates it according to the streaming media protocol to obtain the second video data information in the image transmission encapsulation protocol format, including :通讯模块接收所述第一视频数据信息；The communication module receives the first video data information;将所述第一视频数据信息根据流媒体协议进行封装成MPEG2-TS格式的第二视频数据信息。The first video data information is encapsulated into second video data information in MPEG2-TS format according to the streaming media protocol.
- 根据权利要求1-5任一项所述的无人机图传方法，其中，所述通讯模块接收所述第一视频数据信息并根据流媒体协议进行封装，以获得图传封装协议格式的第二视频数据信息之前进一步还包括：The UAV image transmission method according to any one of claims 1 to 5, wherein the communication module receives the first video data information and encapsulates it according to the streaming media protocol to obtain the third image transmission encapsulation protocol format. The second video data information further includes:通讯模块登录到服务器；The communication module logs in to the server;接收服务器开始推流指令，通过SRT协议向服务器发送视频数据信息。Receive the server's start push instruction and send video data information to the server through the SRT protocol.
- 根据权利要求6所述的无人机图传方法，其中，所述接收服务器开始推流指令，通过SRT协议向服务器发送视频数据信息之后进一步还包括步骤：通讯模块接收服务器停止推流指令，停止向服务器发送视频数据信息。The UAV image transmission method according to claim 6, wherein, after the receiving server starts a streaming instruction and sends the video data information to the server through the SRT protocol, it further includes the step of: the communication module receives the server's stopping streaming instruction and stops. Send video data information to the server.
- 一种无人机图传系统，所述无人机图传系统包括无人机相机、通讯模块、服务器以及客户端；A UAV image transmission system, which includes a UAV camera, a communication module, a server and a client;所述无人机相机，设置为采集画面视频数据信息，将所述画面视频数据信息编码成特定格式的第一视频数据信息；The drone camera is configured to collect picture video data information, and encode the picture video data information into first video data information in a specific format;所述通讯模块，设置为接收所述第一视频数据信息并根据流媒体协议进行封装，以获得图传封装协议格式的第二视频数据信息；根据接收到的不同数据传输指令将所述封装成协议格式的第二视频数据信息传输至服务器；The communication module is configured to receive the first video data information and encapsulate it according to the streaming media protocol to obtain the second video data information in the image transmission encapsulation protocol format; encapsulate the said first video data information into The second video data information in the protocol format is transmitted to the server;所述服务器，设置为监听各发送模块的指令信息，并根据指令信息进行控制发送模块输出相对应的数据信息；The server is configured to monitor the instruction information of each sending module, and control the sending module to output corresponding data information according to the instruction information;所述客户端，设置为向服务器发起请求，获取并播放所述无人机的图传。The client is configured to initiate a request to the server to obtain and play the image transmission of the drone.
- 根据权利要求7所述的无人机图传系统，其中，所述服务器包括通讯控制模块、SRT接收模块、以及分别与SRT接收模块连接的flv视频存储模块、WebRtc发送模块和SRT发送模块；The UAV image transmission system according to claim 7, wherein the server includes a communication control module, an SRT receiving module, and a flv video storage module, a WebRtc sending module and an SRT sending module respectively connected to the SRT receiving module;所述通讯控制模块，设置为根据自有协议控制所述通讯模块与服务器进行通讯；The communication control module is configured to control the communication module to communicate with the server according to its own protocol;所述SRT接收模块，设置为接收所述第二视频数据信息；The SRT receiving module is configured to receive the second video data information;所述flv视频存储模块，设置为将进行转码后的第二视频数据信息存入数据库，并提供查询视频列表及播放历史视频接口；The flv video storage module is configured to store the transcoded second video data information in the database, and provide interfaces for querying video lists and playing historical videos;所述WebRtc发送模块，设置为接收web端监控页面发起的WebRtc请求，并发送无人机的图传；The WebRtc sending module is configured to receive the WebRtc request initiated by the web-side monitoring page and send the image transmission of the drone;所述SRT发送模块，设置为接收windows地面站发起的SRT请求，并发送无人机的图传。The SRT sending module is configured to receive the SRT request initiated by the windows ground station and send the image transmission of the drone.
- 一种计算机可读存储介质，其上存储有无人机图传方法的控制程序，所述无人机图传方法的控制程序被处理器执行时实现如权利要求1至7中任一项所述的仪表数字显示方法的步骤。A computer-readable storage medium on which a control program for a UAV image transmission method is stored. When the control program for the UAV image transmission method is executed by a processor, the control program of any one of claims 1 to 7 is implemented. The steps of the instrument digital display method described above.
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