CN105516604A - Aerial video sharing method and system - Google Patents
Aerial video sharing method and system Download PDFInfo
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- CN105516604A CN105516604A CN201610035665.5A CN201610035665A CN105516604A CN 105516604 A CN105516604 A CN 105516604A CN 201610035665 A CN201610035665 A CN 201610035665A CN 105516604 A CN105516604 A CN 105516604A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/66—Remote control of cameras or camera parts, e.g. by remote control devices
- H04N23/661—Transmitting camera control signals through networks, e.g. control via the Internet
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N21/00—Selective content distribution, e.g. interactive television or video on demand [VOD]
- H04N21/20—Servers specifically adapted for the distribution of content, e.g. VOD servers; Operations thereof
- H04N21/23—Processing of content or additional data; Elementary server operations; Server middleware
- H04N21/241—Operating system [OS] processes, e.g. server setup
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N21/00—Selective content distribution, e.g. interactive television or video on demand [VOD]
- H04N21/20—Servers specifically adapted for the distribution of content, e.g. VOD servers; Operations thereof
- H04N21/25—Management operations performed by the server for facilitating the content distribution or administrating data related to end-users or client devices, e.g. end-user or client device authentication, learning user preferences for recommending movies
- H04N21/258—Client or end-user data management, e.g. managing client capabilities, user preferences or demographics, processing of multiple end-users preferences to derive collaborative data
- H04N21/25808—Management of client data
- H04N21/25816—Management of client data involving client authentication
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N21/00—Selective content distribution, e.g. interactive television or video on demand [VOD]
- H04N21/40—Client devices specifically adapted for the reception of or interaction with content, e.g. set-top-box [STB]; Operations thereof
- H04N21/43—Processing of content or additional data, e.g. demultiplexing additional data from a digital video stream; Elementary client operations, e.g. monitoring of home network or synchronising decoder's clock; Client middleware
- H04N21/431—Generation of visual interfaces for content selection or interaction; Content or additional data rendering
- H04N21/4312—Generation of visual interfaces for content selection or interaction; Content or additional data rendering involving specific graphical features, e.g. screen layout, special fonts or colors, blinking icons, highlights or animations
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N21/00—Selective content distribution, e.g. interactive television or video on demand [VOD]
- H04N21/60—Network structure or processes for video distribution between server and client or between remote clients; Control signalling between clients, server and network components; Transmission of management data between server and client, e.g. sending from server to client commands for recording incoming content stream; Communication details between server and client
- H04N21/61—Network physical structure; Signal processing
- H04N21/6156—Network physical structure; Signal processing specially adapted to the upstream path of the transmission network
- H04N21/6181—Network physical structure; Signal processing specially adapted to the upstream path of the transmission network involving transmission via a mobile phone network
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N21/00—Selective content distribution, e.g. interactive television or video on demand [VOD]
- H04N21/80—Generation or processing of content or additional data by content creator independently of the distribution process; Content per se
- H04N21/85—Assembly of content; Generation of multimedia applications
- H04N21/854—Content authoring
- H04N21/8547—Content authoring involving timestamps for synchronizing content
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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
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- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- Computer Security & Cryptography (AREA)
- Databases & Information Systems (AREA)
- Computer Graphics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Two-Way Televisions, Distribution Of Moving Picture Or The Like (AREA)
Abstract
The invention discloses an unmanned aerial vehicle real-time video sharing method and system. The sharing method comprises the following steps: (1) starting up aerial photographing equipment or image photographing equipment; (2) photographing by taking a media stream timestamp manner and/or a text timestamp manner and encoding photographed data to generate a media stream; (3) transmitting the media stream to a cloud server through a communication network for carrying out real-time sharing of data. With the adoption of the unmanned aerial vehicle real-time video sharing method and system, real-time sharing and processing of unmanned aerial vehicle images/videos is realized, the speed is rapid and the efficiency is high; meanwhile, all-directional and high-precision sharing of a plurality of types of information is also realized.
Description
Technical field
A kind of Aerial Images/field of video transmission of system of the present invention, espespecially one is taken photo by plane video sharing method and system.
Background technology
In recent years, the rise of unmanned plane is beyond doubt for photography of taking photo by plane brings fresh vigor, and it changes the traditional style of shooting of climbing building or helicopt of photographer, reduces Personal Risk's coefficient of photographer, and provides the angle of taking more.A series of honourable works can be have taken in the field locations of spaciousness, the world of the length and breadth of land, grand scenery by unmanned plane during flying device.But beautiful scenery can not exclusively enjoy, present unmanned plane is taken photo by plane photography, mainly adopts figure teach skill art or UAV Video memory technology, the image of shooting is back to ground control terminal, or be kept on unmanned plane, after unmanned plane landing, then read picture concerned or video content.Along with the requirement of people to picture or video real-time sharing is day by day strong, how the Real-time video content that unmanned plane is taken directly is shared and take photo by plane in face of fan to shutterbugs all over the world or unmanned plane, become unmanned plane and to have taken photo by plane problem in the urgent need to address.
In addition, photography of taking photo by plane is different from ground photography, and the environment of its control for unmanned plane, shooting angle, shooting is all had higher requirement.While sharing photographic content of taking photo by plane, for the manipulation details parameter of the location parameter in photography area, environmental parameter, video camera or camera angle parameter, unmanned plane, be that the shutterbugs that take photo by plane pay close attention to.Therefore, by geographic factor, the operating parameter of all kinds of photography of taking photo by plane, be increased in image content, or with time shaft be sequence video content in, be also that the fans that take photo by plane take photo by plane to unmanned plane and share the new demand of proposition.
Through retrieval prior art, do not find the method and system of the picture/video real-time sharing that there is unmanned plane shooting.
Summary of the invention
The object of the invention is to solve the picture/video of unmanned plane shooting based on unmanned plane real-time video sharing method and system cannot the technical barrier of real-time sharing.
One is taken photo by plane picture/video sharing method, and described sharing method comprises the steps:
(1) capture apparatus is opened;
(2) take with Media Stream timestamp and/or text time stamp mode, after the data encoding of described shooting, generate Media Stream;
(3) carried out the real-time sharing of data to cloud server by Media Stream described in communication network transmission.
Further, described Media Stream comprises main Media Stream and from Media Stream.
Further, the described quantity from Media Stream is at least one.
Further, carry out combining and compressed encoding after the encoded device of the described Media Stream in step (2) exports, generate the combined medium flow data that can transmit.
Further, described step (3) also comprises: 1) cloud server receives the described combined medium flow data uploaded; 2) decompression coding and media stream data decomposition are carried out to described combined medium flow data; 3) extraction time stabs, rise time synchronizing signal; 4) to each media stream signal after decomposition, decode; 5) take time synchronizing signal as benchmark, present the data of capture apparatus shooting.
Further, described step (3) also comprises: 6) by described step 5) in data be stored in cloud server database.
Further, described step 5) data comprise one or more of following data: video content data, unmanned plane during flying status data, flight control command data, capture apparatus operational parameter data.
Further, described communication network is cordless communication network, in horizon range, by Image transmission equipment by described media stream to ground station control end, then be forwarded to cloud server; In over the horizon situation, the communication module of the 3G/4G mobile network utilizing unmanned plane to carry, sets up the data link channel of unmanned plane to cloud server, selects the video flowing code check of adequate transmission, by described Media Stream real-time sharing to cloud server.
One is taken photo by plane picture/video sharing system, and comprising: application processor, communicator, capture apparatus, main media stream processor, from media stream processor; Wherein, described capture apparatus is connected with described main media stream processor, described main media stream processor, to be describedly connected with described application processor respectively from media stream processor, described communicator.
One is taken photo by plane picture/video server, comprising: platform processes module, application service module; Described platform processes module comprises main Media Stream platform processes module, from Media Stream platform processes module; Described application service module comprises main Media Stream and presents module, presents module from Media Stream.
Existing real-time image transmission system is unstable, when not increasing auxiliary timestamp, be difficult under the data transmission environments of instability, ensure the integrality of video data real-time sharing, technique scheme of the present invention is fundamentally solving this difficult problem, achieve the complete in real time of picture/video of taking photo by plane to share, and provide possibility for real-time interactive.
Accompanying drawing explanation
Fig. 1 depicts unmanned plane and takes photo by plane picture or video sharing to cloud server job step.
Fig. 2 depicts picture or the video data treatment step of unmanned plane cloud server.
Fig. 3 depicts unmanned plane real time picture/video sharing system structure chart.
Fig. 4 depicts UAV Video or image data transmission network.
Fig. 5 depicts unmanned plane cloud server Organization Chart.
Fig. 6 depict unmanned plane take photo by plane video real-time sharing coding flow process.
Fig. 7 depicts cloud server decoding and presents flow process
Fig. 8 depicts video sharing split screen graphic interface.
Embodiment
For making general technical staff of the technical field of the invention further can understand the present invention, hereafter spy enumerates preferred embodiment of the present invention, and coordinates described accompanying drawing, describe in detail constitution content of the present invention and the technique effect for reaching.
We will illustrate the real-time sharing method and system of take photo by plane picture or video with specific embodiment below.
Unmanned plane takes photo by plane the real-time sharing of picture or video to the job step following (see accompanying drawing 1) of cloud server: 1. unmanned plane opens video camera or camera; 2., with Media Stream timestamp mode record video camera or camera content of shooting, after coding, generate main Media Stream; 3. all kinds of flight sensor parameter of unmanned plane, with text time stamp mode record, generates first from Media Stream after coding; 4. camera control parameter, with text time stamp mode record, generates second from Media Stream after coding; 5. all kinds of flight manipulation of unmanned plane order parameter, with text or picture time stamp mode record, generates the 3rd from Media Stream after coding; 6. each encoder output media stream carries out combining and compressed encoding, generates the combined medium flow data that can transmit; 7. cross communication network transmission combined medium flow data to cloud server.
The picture of unmanned plane cloud server or video data treatment step (accompanying drawing 2), comprising:
1. cloud server receives the combined medium stream that account is uploaded; 2. pair Media Stream carries out decompression coding and media stream data decomposition; 3. extraction time stabs, rise time synchronizing signal; 4. each media stream signal after pair decomposition, decodes; 5., with time synchronizing signal, present the video content of unmanned plane video camera or camera shooting, unmanned plane during flying status data, flight control command data, camera operation supplemental characteristic; 6. all data are stored in cloud server database.
According to the feature of unmanned plane during flying, the high rate video of unmanned plane or image data transmission need the support (see accompanying drawing 3) of wireless network.In the present embodiment, combined medium flow data is to cloud server.In horizon range, ground station control end can be reached by figure, be forwarded to cloud server.In over the horizon situation, the communication module of 3G, 4G mobile network that unmanned plane can be utilized to carry, sets up the data link channel of unmanned plane to cloud server, and select the video flowing code check of adequate transmission, real-time sharing is to cloud server.
Unmanned plane real time picture/video sharing system (see accompanying drawing 4) concrete structure of the present invention is as follows:
Application processor, as the core processor of unmanned plane, comprising: CPU, memory ram, operating system and application software.Multi-task scheduling is responsible for by this assembly, comprises and calls application module, radio communication function, media stream data transmission, memory read/write and the process of unmanned plane sensing data etc.
Memory and SD interface, comprise: can fast reading and writing SDD hard disk and the mobile read-write equipment of SD card can be inserted, be mainly used in storing unmanned plane device data and types of applications data, such as: unmanned plane device code, hardware data, Default Value, video media stream, flight control data, Flight Condition Data etc.
Mobile communication base band and radio frequency handling device, this assembly is formed primarily of 3G/4G wireless communication chips group, and the media stream data such as video, audio frequency, picture being responsible for being crossed by unmanned plane acquisition and processing by mobile communications network is sent to cloud server.When over the horizon is flown, this assembly is also responsible for accepting the unmanned aerial vehicle (UAV) control instruction that control end is sent by mobile communications network, sends unmanned plane sensing data to ground control terminal.
SIM card device, comprise: SIM card socket and data-reading unit, SIM card or usim card are that user is sent by Mobile Network Operator after signing network service contract, this device can read user profile in SIM card or usim card, comprise: user signing contract information, IMSI (IMSI International Mobile Subscriber Identity) number, authentication tlv triple or five-tuple data.
2.4G band communication device, this device sets up the communication in horizon range by 2.4GHz communication frequency and ground control terminal, preferably can set up the communication connection between unmanned plane and cloud server by this assembly at outdoor environment that is indoor or low speed movement.
First state of flight/from media stream processor, gather and with the various sensing data of timestamp form record unmanned plane and gps data, transfer data to insertion type Media Stream form by data encoding.
GPS device: by high sensitivity GPS receiver, when capturing effective satellite-signal, this assembly is for determining the longitude and latitude position that unmanned plane is current.
Gyroscope: by transducer, real-time collecting aircraft azimuth information.
Accelerometer: by transducer, the conversion of the speed on real-time collecting aircraft traffic direction.
Gravity sensor: by transducer, the difference of real-time collecting aircraft and earth horizontal plane, i.e. flight attitude.
Camera control/from Media Stream processing components, be responsible for receiving ground control terminal to the control command of camera, adjustment camera parameters index, and with timestamp form record camera acquisition parameters, transfer supplemental characteristic to insertion type Media Stream form by data encoding.
Second state of flight/from media stream processor, be responsible for all kinds of unmanned aerial vehicle (UAV) control instruction of process ground control terminal or perform aerial mission according to planning flight path, and with the various control commands of timestamp form record unmanned plane, transfer data to insertion type Media Stream form by data encoding.Under automatic obstacle-avoiding module sends nearly barrier warning situation, take to keep away barrier flare maneuver.
Automatic fault avoidnig device; unmanned plane configures ultrasonic listening transducer in a different direction; sensorcraft peripheral obstacle; when the certain distance of heading detects barrier; send deceleration to flight control modules and keep away barrier request; when distance reduces further, send hovering or request of rising to flight control modules.
Camera is equipped on unmanned plane, for gathering static images or dynamic video stream, and is stored in the parts of image transmitting memory module.
Main media stream processor, carries out high efficiency coded treatment by the video taken by camera or picture, makes image or video content transfer the media stream data with compatible format to, is back to control end or high in the clouds.
Frame synchronization, compression-encoding device, be responsible for, to main Media Stream with respectively from Media Stream, providing synchronized timestamp, and to main Media Stream with respectively from Media Stream, carry out data compression coding process.Media Stream after combination is delivered to different wireless communication modules and carries out transfer of data.
Easily extensible application apparatus, the exploitation of applying as all kinds of unmanned plane reserved by this device, the User Exploitation interface of increasing income and SDK (Software Development Kit) (SDK) allow developer can call the application programming interfaces of unmanned plane like a cork, access camera, radio communication function, database and various kinds of sensors initial data.
Unmanned plane cloud server of the present invention mainly comprises following assembly (see accompanying drawing 5):
Infrastructure equipment: this device comprises database facility, main process equipment and the network equipment, all devices all virtual form is present in the data center of each department.All kinds of platforms of platform processes layer will utilize all kinds of virtual resources in infrastructure layer, comprise: computing, and data store, and information network communication etc. resource, realizes the types of applications demand of application service layer.
Platform processes module: this module provide all kinds of platform functional module, server OS and with upper level applications interface API.Concrete platform feature module is as follows:
Certification, authorization module: taking photo by plane in video sharing system, unmanned plane, after unlatching net cast is shared, first will carry out the account certification of unmanned plane, and the process that certification is differentiated is exactly the legitimacy of identifying user identity; After discriminating completes, the video sharing of unmanned plane is authorized; After mandate completes, unmanned plane can begin through directly to be shared or control end forwards and shares two kinds of forms and share content of taking photo by plane.
Flight Condition Data platform: take photo by plane in process at unmanned plane during flying, this platform can extract with " timeline " Flight Condition Data that unmanned plane uploads, comprise: GPS location, flying height, flying speed, flight course etc. data, and carry out decompress(ion), decoding process, be translated into the data that application layer is readable.
Flight control data platform: take photo by plane in process at unmanned plane during flying, this platform can extract with " timeline " flight control data that unmanned plane uploads, comprise: rising, decline, left steering, right turn, advance, retrogressing, hovering etc. operating data, and carry out decompress(ion), decoding process, be translated into the data that application layer is readable.
Acquisition parameters processing platform: take photo by plane in process at unmanned plane during flying, this platform can extract with " timeline " the camera parameter data that unmanned plane uploads, comprise: aperture size, ISO, screen resolution, frame rate, video format etc. photographed data, and carry out decompress(ion), decoding process, be translated into the data that application layer is readable.
Main Media Stream processing platform: take photo by plane in process at unmanned plane during flying, this platform can extract with " timeline " the main media stream data that unmanned plane uploads, i.e. video data content, and carries out decompress(ion), decoding process, is translated into the data that application layer is readable.
Media Stream synchronous platform: " timeline " of process Flight Condition Data, flight control data, acquisition parameters data and main media stream data, extracts data time line and carries out real time data synchronization process.
Media Stream recorded broadcast processing platform: after receiving the live end of unmanned plane, by decompress(ion), decoding, synchronous after video data splitting store, call recorded broadcast data for upper layer application.
Geographical information platform: national geographic information data is provided, and periodically updates database; For each managerial platform provides Map Services.
Application service module: the main supplier in the face of video of taking photo by plane of this module, consultant, fan, provide video of taking photo by plane live, store, present, the service such as comment.Specific as follows:
Split screen presents management: this SMF is for managing high in the clouds video presentation mode, the one of the optional following split screen presentation mode of user, comprise: embed main Media Stream from Media Stream text mode and present, main Media Stream and presenting from Media Stream graphical interfaces split screen, only main media stream content presents.
Main video media stream presents: by the decoded video flowing of main Media Stream processing platform, and " timeline " Sequential output provided according to Media Stream synchronous platform is to user's screen.
Present from media stream data text: this service is only effective user selects " embedding main Media Stream from Media Stream text mode to present " pattern.By Flight Condition Data, flight control command data, acquisition parameters data, " timeline " provided according to Media Stream synchronous platform order embeds main video media stream with text mode and exports user's screen to.
Flying quality graphically presents: this service only user selects " main Media Stream and present from Media Stream graphical interfaces split screen " pattern effectively.By Flight Condition Data, be converted into 3DGPS map mode and the combination of unmanned plane during flying gesture mode, " timeline " provided according to Media Stream synchronous platform order is exporting user's screen to split screen patterned way.
Flight controls graphically to present: this service only user selects " main Media Stream and present from Media Stream graphical interfaces split screen " pattern effectively.Control command of flying data, are converted into unmanned aerial vehicle (UAV) control end handle image model, and " timeline " provided according to Media Stream synchronous platform order is exporting user's screen to split screen patterned way.
Camera operation graphically presents: this service only user selects " main Media Stream and present from Media Stream graphical interfaces split screen " pattern effectively.By camera operation supplemental characteristic, be converted into camera lens image model, " timeline " order provided according to Media Stream synchronous platform is exporting user's screen to split screen patterned way.
Comment barrage presents: this service is applied to the user watching live or recorded broadcast, and with text mode comment video, its comment text will directly embed main video media stream.And unmanned aerial vehicle (UAV) control end will present comment content in real time.
System management module: the system management function of this module primary responsibility cloud server.Comprise: the aspects such as high in the clouds safety management, network management, tactical management, APP library management, application service management.
Operation module: the Dynamic System of this module primary responsibility cloud server.Comprise: the aspects such as the management of system performance monitoring, system configuration, system failure management, system access rights management.
Unmanned plane is taken photo by plane video real-time sharing coding flow process, can see accompanying drawing 6, and cloud server decoding presents flow process, can see accompanying drawing 7, and video sharing split screen graphic interface, can see accompanying drawing 8, and this is no longer going to repeat them.
In sum, present invention achieves real-time sharing and the process of unmanned plane picture/video, there is outstanding real-time, also for real-time interactive provides possibility, solve real-time image transmission system in prior art unstable, when not increasing auxiliary timestamp, being difficult under the data transmission environments of instability, ensureing the technical problem of the integrality of video data real-time sharing; The real-time sharing speed of picture/video of taking photo by plane of the present invention is fast, efficiency is high, and comprehensive, the high accuracy that also achieve much information are shared simultaneously.
The foregoing is only preferred embodiment of the present invention, all equalizations done according to the present patent application the scope of the claims change and modify, and all should belong to covering scope of the present invention.
Claims (10)
1. take photo by plane picture/video sharing method, it is characterized in that, described sharing method comprises the steps:
(1) capture apparatus is opened;
(2) take with Media Stream timestamp and/or text time stamp mode, after the data encoding of described shooting, generate Media Stream;
(3) carried out the real-time sharing of data to cloud server by Media Stream described in communication network transmission.
2. one as claimed in claim 1 is taken photo by plane picture/video sharing method, it is characterized in that, described Media Stream comprises main Media Stream and from Media Stream.
3. one as claimed in claim 2 is taken photo by plane picture/video sharing method, and it is characterized in that, the described quantity from Media Stream is at least one.
4. one as claimed in claim 1 is taken photo by plane picture/video sharing method, it is characterized in that, carries out combining and compressed encoding, generate the combined medium flow data that can transmit after the encoded device of the Media Stream in described step (2) exports.
5. one as claimed in claim 4 is taken photo by plane picture/video sharing method, and it is characterized in that, described step (3) also comprises: 1) cloud server receives the described combined medium flow data uploaded; 2) decompression coding and media stream data decomposition are carried out to described combined medium flow data; 3) extraction time stabs, rise time synchronizing signal; 4) to each media stream signal after decomposition, decode; 5) take time synchronizing signal as benchmark, present the data of the equipment of taking photo by plane or image picking-up apparatus shooting.
6. one as claimed in claim 5 is taken photo by plane picture/video sharing method, and it is characterized in that, described step (3) also comprises: 6) by described step 5) in data be stored in cloud server database.
7. one as claimed in claim 5 picture/video data of taking photo by plane shares processing method, it is characterized in that, described step 5) data comprise one or more of following data: video content data, unmanned plane during flying status data, flight control command data, capture apparatus operational parameter data.
8. one as claimed in claim 1 is taken photo by plane picture/video sharing method, it is characterized in that,
Described communication network is cordless communication network, in horizon range, by Image transmission equipment by described media stream to ground station control end, then be forwarded to cloud server;
In over the horizon situation, the communication module of the 3G/4G mobile network utilizing unmanned plane to carry, sets up the data link channel of unmanned plane to cloud server, selects the video flowing code check of adequate transmission, by described Media Stream real-time sharing to cloud server.
9. take photo by plane picture/video sharing system, it is characterized in that, comprising: application processor, communicator, capture apparatus, main media stream processor, from media stream processor; Wherein, described capture apparatus is connected with described main media stream processor, described main media stream processor, to be describedly connected with described application processor respectively from media stream processor, described communicator.
10. to take photo by plane picture/video server, it is characterized in that, comprising: platform processes module, application service module; Described platform processes module comprises main Media Stream platform processes module, from Media Stream platform processes module; Described application service module comprises main Media Stream and presents module, presents module from Media Stream.
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| CN110278717A (en) * | 2018-01-22 | 2019-09-24 | 深圳市大疆创新科技有限公司 | Control the method and apparatus of aircraft flight |
| CN110771174A (en) * | 2018-11-21 | 2020-02-07 | 深圳市大疆创新科技有限公司 | Video processing method, ground control terminal and storage medium |
| CN112119630A (en) * | 2019-07-24 | 2020-12-22 | 深圳市大疆创新科技有限公司 | Data sending and processing method, movable platform, display device, glasses and system |
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