WO2024032566A1 - Procédé et système de transmission vidéo de véhicule aérien sans pilote, et support de stockage lisible par ordinateur - Google Patents

Procédé et système de transmission vidéo de véhicule aérien sans pilote, et support de stockage lisible par ordinateur Download PDF

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Publication number
WO2024032566A1
WO2024032566A1 PCT/CN2023/111551 CN2023111551W WO2024032566A1 WO 2024032566 A1 WO2024032566 A1 WO 2024032566A1 CN 2023111551 W CN2023111551 W CN 2023111551W WO 2024032566 A1 WO2024032566 A1 WO 2024032566A1
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WO
WIPO (PCT)
Prior art keywords
data information
video data
server
image transmission
module
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Application number
PCT/CN2023/111551
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English (en)
Chinese (zh)
Inventor
胡华智
郭绍宏
缪志豪
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亿航智能设备（广州）有限公司
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Application filed by 亿航智能设备（广州）有限公司 filed Critical 亿航智能设备（广州）有限公司
Publication of WO2024032566A1 publication Critical patent/WO2024032566A1/fr

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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
    • 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
    • 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.

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  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Two-Way Televisions, Distribution Of Moving Picture Or The Like (AREA)

Abstract

La présente invention se rapporte au domaine technique des véhicules aériens sans pilote et concerne un procédé et un système de transmission vidéo de véhicule aérien sans pilote et un support de stockage lisible par ordinateur. Le procédé consiste : à collecter, au moyen d'une caméra de véhicule aérien sans pilote, des informations de données vidéo d'image et à les coder en premières informations de données vidéo dans un format spécifique à transmettre à un module de communication (S101) ; à recevoir, au moyen du module de communication, les premières informations de données vidéo et les encapsule selon un protocole multimédia de diffusion en continu pour obtenir des secondes informations de données vidéo (S102) ; à transmettre les secondes informations de données vidéo à un serveur selon différentes instructions de transmission de données reçues (S103) ; à recevoir, au moyen du serveur, les secondes informations de données vidéo, à transcoder les secondes informations de données vidéo selon les besoins et à transmettre les secondes informations de données vidéo transcodées à un module de stockage vidéo flv et/ou à un module d'envoi de demande client (S104) ; à lancer, au moyen d'un client, une demande au serveur selon les besoins et à acquérir et à lire une vidéo transmise du véhicule aérien sans pilote (S105). Ainsi, le retard est faible tout en garantissant la régularité des données vidéo d'image.
PCT/CN2023/111551 2022-08-12 2023-08-07 Procédé et système de transmission vidéo de véhicule aérien sans pilote, et support de stockage lisible par ordinateur WO2024032566A1 (fr)

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CN202210971744.2 2022-08-12
CN202210971744.2A CN115348422A (zh) 2022-08-12 2022-08-12 无人机图传方法、系统及计算机可读存储介质

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CN115348422A (zh) * 2022-08-12 2022-11-15 亿航智能设备（广州）有限公司 无人机图传方法、系统及计算机可读存储介质
CN117579896B (zh) * 2024-01-15 2024-04-02 深圳市光明顶技术有限公司 无人机视频传输处理方法、装置、设备及存储介质

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