CN108702511A - Method, equipment and the system of transmission of video - Google Patents
Method, equipment and the system of transmission of video Download PDFInfo
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- CN108702511A CN108702511A CN201780012819.1A CN201780012819A CN108702511A CN 108702511 A CN108702511 A CN 108702511A CN 201780012819 A CN201780012819 A CN 201780012819A CN 108702511 A CN108702511 A CN 108702511A
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- 238000000034 method Methods 0.000 title claims abstract description 163
- 230000005540 biological transmission Effects 0.000 title claims abstract description 117
- 238000004891 communication Methods 0.000 claims description 182
- 230000003139 buffering effect Effects 0.000 claims description 9
- 230000008569 process Effects 0.000 description 11
- 239000003795 chemical substances by application Substances 0.000 description 6
- 230000006870 function Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 238000005183 dynamical system Methods 0.000 description 4
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 235000013399 edible fruits Nutrition 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 210000004556 brain Anatomy 0.000 description 2
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U20/00—Constructional aspects of UAVs
- B64U20/80—Arrangement of on-board electronics, e.g. avionics systems or wiring
- B64U20/87—Mounting of imaging devices, e.g. mounting of gimbals
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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
- H04N19/10—Methods or arrangements for coding, decoding, compressing or decompressing digital video signals using adaptive coding
- H04N19/169—Methods or arrangements for coding, decoding, compressing or decompressing digital video signals using adaptive coding characterised by the coding unit, i.e. the structural portion or semantic portion of the video signal being the object or the subject of the adaptive coding
- H04N19/17—Methods or arrangements for coding, decoding, compressing or decompressing digital video signals using adaptive coding characterised by the coding unit, i.e. the structural portion or semantic portion of the video signal being the object or the subject of the adaptive coding the unit being an image region, e.g. an object
- H04N19/172—Methods or arrangements for coding, decoding, compressing or decompressing digital video signals using adaptive coding characterised by the coding unit, i.e. the structural portion or semantic portion of the video signal being the object or the subject of the adaptive coding the unit being an image region, e.g. an object the region being a picture, frame or field
-
- 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
- H04N19/85—Methods or arrangements for coding, decoding, compressing or decompressing digital video signals using pre-processing or post-processing specially adapted for video compression
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
- B64U10/13—Flying platforms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
- B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2201/00—UAVs characterised by their flight controls
- B64U2201/20—Remote controls
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- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Mechanical Engineering (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- Compression Or Coding Systems Of Tv Signals (AREA)
- Two-Way Televisions, Distribution Of Moving Picture Or The Like (AREA)
Abstract
The embodiment of the present invention provides a kind of method of transmission of video, equipment and system, this method:Video data is obtained by the capture apparatus that unmanned vehicle carries, the picture frame of preset kind in the video data is abandoned, the video data after picture frame to abandoning preset kind encodes, and the video data after coding is sent to remote control equipment, it is abandoned by the picture frame to preset kind, reduce the operand of Video coding, reduce the transmission quantity of the video data after coding simultaneously, both the video encoding time of unmanned vehicle had been saved, transmission time of the video data after coding from unmanned vehicle to remote control equipment is saved again, in addition, also save the time of remote equipment decoding video data, and reduce the complexity of remote equipment decoding video data, so as to shorten the time delay of net cast.
Description
Technical field
The present embodiments relate to a kind of field of video transmission more particularly to method of transmission of video, equipment and systems.
Background technology
Unmanned vehicle can be used for taking photo by plane after carrying capture apparatus in the prior art, and the communication system of unmanned vehicle can incite somebody to action
The image or video of capture apparatus shooting are sent to ground surface end, such as remote controler, and remote controler can further send out image or video
Give user equipment, such as mobile phone, tablet computer, computer etc..After user equipment networking, image or video can also be sent
To server of network side, such as Cloud Server, server cluster etc., the player of remote subscriber can access the server,
It is played out after obtaining the image or video from server.
It is needed by multiple equipment, multilink since every frame image of video is transferred to player from unmanned vehicle,
Cause propagation delay time of the every frame image of video from unmanned vehicle to player larger, so as to cause net cast time delay compared with
Greatly.
Invention content
The embodiment of the present invention provides a kind of method of transmission of video, equipment and system, to shorten the time delay of net cast.
The first aspect of the embodiment of the present invention is to provide a kind of method of transmission of video, is applied to unmanned vehicle, including:
Video data is obtained by the capture apparatus that unmanned vehicle carries;
The picture frame of the preset kind in the video data is abandoned by processor;
The video data after picture frame by processor to abandoning preset kind encodes;
Video data after sending coding to remote control equipment by communication interface.
The second aspect of the embodiment of the present invention is to provide a kind of method of transmission of video, is applied to unmanned vehicle, including:
Video data is obtained by the capture apparatus that unmanned vehicle carries;
The video data is encoded by processor;
Video data after sending coding to remote control equipment by communication interface;
Wherein, before being encoded to the video data by processor, the video data is without buffer
Caching;Or
Before the video data after sending the coding to remote control equipment by communication interface, the video after the coding
Data are without buffer.
The third aspect of the embodiment of the present invention is to provide a kind of method of transmission of video, is applied to remote control equipment, including:
The video data after the coding that unmanned vehicle is sent is received by communication interface;
The video data after the coding is sent to terminal device by processor;
Wherein, after the video data after receiving the coding that unmanned vehicle is sent by communication interface, the video
Data without buffer caching;Or
Before the video data after the coding is sent to terminal device by the processor, the video data
Without the caching of buffer.
The fourth aspect of the embodiment of the present invention is to provide a kind of method of transmission of video, applied to what is connect with remote control equipment
Terminal device, including:
The encoded video data that remote control equipment is sent is received by communication interface, the encoded video data is flown to nobody
What the video data for the capture apparatus shooting that row device carries was encoded;
The encoded video data is decoded by processor to obtain the video data;
The picture frame of the preset kind in the video data is abandoned by processor;
The video data after picture frame by processor to abandoning preset kind encodes;
Video data after sending coding to streaming media server by processor.
5th aspect of the embodiment of the present invention is to provide a kind of method of transmission of video, applied to what is connect with remote control equipment
Terminal device, including:
The encoded video data that remote control equipment is sent is received by communication interface, the encoded video data is flown to nobody
What the video data for the capture apparatus shooting that row device carries was encoded;
The encoded video data is decoded by processor to obtain the video data;
The video data is encoded by processor;
Video data after sending coding to streaming media server by processor;
Wherein, before being decoded to the encoded video data by processor, the encoded video data without
Cross the caching of buffer;Or
Before sending the video data after coding to streaming media server by processor, the video counts after the coding
According to without buffer.
6th aspect of the embodiment of the present invention is to provide a kind of method of transmission of video, is applied to streaming media server, packet
It includes:
The encoded video data sent by communication interface receiving terminal apparatus, the encoded video data are flown to nobody
What the video data for the capture apparatus shooting that row device carries was encoded;
The encoded video data is decoded by processor to obtain the video data;
The picture frame of the preset kind in the video data is abandoned by processor;
The video data after picture frame by processor to abandoning preset kind encodes;
Video data after sending coding to remote equipment by processor.
7th aspect of the embodiment of the present invention is to provide a kind of method of transmission of video, is applied to streaming media server, packet
It includes:
The encoded video data sent by communication interface receiving terminal apparatus, the encoded video data are flown to nobody
What the video data for the capture apparatus shooting that row device carries was encoded;
The encoded video data is decoded by processor to obtain the video data;
The video data is encoded by processor;
Video data after sending coding to remote equipment by processor;
Wherein, before being decoded to the encoded video data by processor, the encoded video data without
Cross the caching of buffer;Or
Before sending the video data after coding to remote equipment by processor, the video data after the coding is not
By buffer.
The eighth aspect of the embodiment of the present invention is to provide a kind of unmanned vehicle, including:
Capture apparatus, for obtaining video data;
Processor, the picture frame for abandoning the preset kind in the video data;And
The video data after picture frame to abandoning preset kind encodes;
Communication interface, for the video data after sending coding to remote control equipment.
9th aspect of the embodiment of the present invention is to provide a kind of unmanned vehicle, including:
Capture apparatus, for obtaining video data;
Processor, for being encoded to the video data;
Communication interface, for the video data after sending coding to remote control equipment;
Wherein, before the processor encodes the video data, the video data is without buffer
Caching;Or
Before the communication interface sends the video data after the coding to remote control equipment, the video after the coding
Data are without buffer.
Tenth aspect of the embodiment of the present invention is to provide a kind of remote control equipment, including:
Communication interface, the video data after coding for receiving unmanned vehicle transmission;
Processor, for the video data after the coding to be sent to terminal device;
Wherein, after the video data after the coding that the communication interface reception unmanned vehicle is sent, the video counts
According to the caching without buffer;Or
Before video data after the coding is sent to terminal device by the processor, the video data without
The caching of buffer.
Tenth one side of the embodiment of the present invention is to provide a kind of terminal device, including:Communication interface and processor;
The communication interface is used to receive the encoded video data of remote control equipment transmission, and the encoded video data is to nothing
What the video data for the capture apparatus shooting that people's aircraft carries was encoded;
The processor is used for:
The encoded video data is decoded to obtain the video data;
Abandon the picture frame of the preset kind in the video data;
The video data after picture frame to abandoning preset kind encodes;
Video data after sending from coding to streaming media server.
12nd aspect of the embodiment of the present invention is to provide a kind of terminal device, including:Communication interface and processor;
The communication interface is used to receive the encoded video data of remote control equipment transmission, and the encoded video data is to nothing
What the video data for the capture apparatus shooting that people's aircraft carries was encoded;
The processor is used for:
The encoded video data is decoded to obtain the video data;
The video data is encoded;And
Video data after sending from coding to streaming media server;
Wherein, before the processor is decoded the encoded video data, the encoded video data without
Cross the caching of buffer;Or
Before the processor sends the video data after the coding to streaming media server, regarding after the coding
Frequency is according to without buffer.
13rd aspect of the embodiment of the present invention is to provide a kind of streaming media server, including:Communication interface and processor;
The communication interface is used for the encoded video data that receiving terminal apparatus is sent, and the encoded video data is to nothing
What the video data for the capture apparatus shooting that people's aircraft carries was encoded;
The processor is used for:
The encoded video data is decoded to obtain the video data;
Abandon the picture frame of the preset kind in the video data;
The video data after picture frame to abandoning preset kind encodes;
Video data after sending from coding to remote equipment.
The fourteenth aspect of the embodiment of the present invention is to provide a kind of streaming media server, including:Communication interface and processor;
The communication interface is used for the encoded video data that receiving terminal apparatus is sent, and the encoded video data is to nothing
What the video data for the capture apparatus shooting that people's aircraft carries was encoded;
The processor is used for:
The encoded video data is decoded to obtain the video data;
The video data is encoded;And
Video data after sending from coding to remote equipment;
Wherein, before the processor is decoded the encoded video data, the encoded video data without
Cross the caching of buffer;Or
Before the processor sends the video data after coding to remote equipment, the video data after the coding is not
By buffer.
15th aspect of the embodiment of the present invention is to provide a kind of Video transmission system, including:
Unmanned vehicle described in eighth aspect or the 9th aspect;
Remote control equipment described in tenth aspect;
Terminal device described in tenth one side or the 12nd aspect;
Streaming media server described in 13rd aspect or fourteenth aspect.
Method, equipment and the system of transmission of video provided in this embodiment, the capture apparatus carried by unmanned vehicle
Video data is obtained, the picture frame of the preset kind in the video data is abandoned, to abandoning the picture frame of preset kind
Video data afterwards is encoded, and the video data after coding is sent to remote control equipment, passes through the image to preset kind
Frame is abandoned, and the operand of Video coding is reduced, while reducing the transmission quantity of the video data after coding, is both saved
The video encoding time of unmanned vehicle, and save transmission of the video data from unmanned vehicle to remote control equipment after coding
Time in addition, also saving the time of remote equipment decoding video data, and reduces remote equipment decoding video data
Complexity, so as to shorten the time delay of net cast.
Description of the drawings
To describe the technical solutions in the embodiments of the present invention more clearly, make required in being described below to embodiment
Attached drawing is briefly described, it should be apparent that, drawings in the following description are some embodiments of the invention, for this
For the those of ordinary skill of field, without having to pay creative labor, other are can also be obtained according to these attached drawings
Attached drawing.
Fig. 1 is a kind of structural schematic diagram of the system of transmission of video provided in an embodiment of the present invention;
Fig. 2 is the flow chart of the method for transmission of video provided in an embodiment of the present invention;
Fig. 3 is the structural schematic diagram of the system of another transmission of video provided in an embodiment of the present invention;
Fig. 4 is the flow chart of the method for the transmission of video that another embodiment of the present invention provides;
Fig. 5 is the flow chart of video data provided in an embodiment of the present invention processing;
Fig. 6 is the flow chart of the method for the transmission of video that another embodiment of the present invention provides;
Fig. 7 is the flow chart of the method for the transmission of video that another embodiment of the present invention provides;
Fig. 8 is the flow chart of the method for the transmission of video that another embodiment of the present invention provides;
Fig. 9 is the flow chart of another video data processing provided in an embodiment of the present invention;
Figure 10 is the flow chart of the method for transmission of video provided in an embodiment of the present invention;
Figure 11 is the structural schematic diagram of the system of another transmission of video provided in an embodiment of the present invention;
Figure 12 is the flow chart of the method for transmission of video provided in an embodiment of the present invention;
Figure 13 is the structural schematic diagram of the system of another transmission of video provided in an embodiment of the present invention;
Figure 14 is the flow chart of the method for transmission of video provided in an embodiment of the present invention;
Figure 15 is the flow chart of the method for transmission of video provided in an embodiment of the present invention;
Figure 16 is the structural schematic diagram of the system of another transmission of video provided in an embodiment of the present invention;
Figure 17 is the flow chart of the method for transmission of video provided in an embodiment of the present invention;
Figure 18 is the flow chart of the method for transmission of video provided in an embodiment of the present invention;
Figure 19 is the flow chart of the method for transmission of video provided in an embodiment of the present invention;
Figure 20 is the structure chart of unmanned vehicle provided in an embodiment of the present invention.
Reference numeral:
11- unmanned vehicle 12- remote control equipment 13- terminal devices
The base stations 14- 15- remote server 16- remote equipments
110- holder 111- capture apparatus 112- processor 113- communication interfaces
Piece member after 50- video data 51- video data 52- piece members 53- codings
Piece member after 91- video data 92- piece members 93- codings
121- communication interface 122- processor 123- communication interfaces
131- communication interface 132- processor 133- communication interfaces
17- streaming media server 171- communication interface 172- processors
173- communication interface 18- servers
200- unmanned vehicle 206- propeller 207- motors
208- processor 209- electron speed regulator 205- communication interfaces
202- support equipment 204- capture apparatus
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention is clearly retouched
It states, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Based on the present invention
In embodiment, every other implementation obtained by those of ordinary skill in the art without making creative efforts
Example, shall fall within the protection scope of the present invention.
It should be noted that when component is referred to as " being fixed on " another component, it can be directly on another component
Or there may also be components placed in the middle.When a component is considered as " connection " another component, it can be directly connected to
To another component or it may be simultaneously present component placed in the middle.
Unless otherwise defined, all of technologies and scientific terms used here by the article and belong to the technical field of the present invention
The normally understood meaning of technical staff is identical.Used term is intended merely to description tool in the description of the invention herein
The purpose of the embodiment of body, it is not intended that in the limitation present invention.Term " and or " used herein includes one or more phases
Any and all combinations of the Listed Items of pass.
Below in conjunction with the accompanying drawings, it elaborates to some embodiments of the present invention.In the absence of conflict, following
Feature in embodiment and embodiment can be combined with each other.
As shown in Figure 1, unmanned vehicle 11 by holder 110 equipped with capture apparatus 111, capture apparatus 111 is for clapping
Image or video are taken the photograph, the image information that capture apparatus 111 is shot or video data are sent to the distant of ground by unmanned vehicle 11
Equipment 12 is controlled, winged hand can control unmanned vehicle 11 by remote control equipment 12 and fly.In addition, remote control equipment 12 can also be with end
End equipment 13 is communicated, and communication mode can be wire communication, be can also be wireless communication, is passed through remote control equipment 12 and terminal
Equipment 13 communicates, and the image information that received unmanned vehicle 11 is sent or video data are sent to end by remote control equipment 12
End equipment 13, terminal device 13 can be specifically mobile phone, tablet computer, laptop etc., and the present embodiment is by taking mobile phone as an example.Fly
Hand is that can watch the image information or video counts that the capture apparatus 111 of the carrying of unmanned vehicle 11 is shot by terminal device 13
According to.In order to allow remote user to watch the image information or video data by remote equipment 16, terminal device 13 can be passed through
The image information or video data are sent to remote server 15 by base station 14, remote server 15 can be specifically stream matchmaker
Body server, remote server 15 are communicated with remote equipment 16, and remote equipment 16 obtains the image information from remote server 15
Or video data.
As can be seen from FIG. 1, every frame image that capture apparatus 111 is shot needs to set by unmanned vehicle 11, remote control successively
Standby 12, terminal device 13, base station 14, remote server 15 reach remote equipment 16, due to unmanned vehicle 11, remote control equipment
12, one or more of terminal device 13, base station 14, remote server 15 may will be put into buffer per frame image and delay
It deposits, causes the propagation delay time for reaching remote equipment 16 from unmanned vehicle 11 per frame image larger, in addition, per frame image from nothing
People's aircraft 11 reaches remote equipment 16 and needs by multiple communication links, will if the transmission rate of multiple communication links is relatively low
Further increase the propagation delay time per frame image.For video data, remote user wishes to watch by remote equipment 16
It is larger so as to cause the time delay of net cast to smooth video data, and since the propagation delay time of every frame image is larger, remotely
User possibly can not watch smooth video data.In order to solve this problem, a kind of transmission of video is present embodiments provided
Method is introduced the method for transmission of video with reference to specific embodiment.
The embodiment of the present invention provides a kind of method of transmission of video.Fig. 2 is transmission of video provided in an embodiment of the present invention
The flow chart of method.The method of transmission of video provided in an embodiment of the present invention is applied to unmanned vehicle, as shown in Fig. 2, this reality
The method in example is applied, may include:
Step S201, video data is obtained by the capture apparatus that unmanned vehicle carries.
The executive agent of the present embodiment method can be unmanned vehicle, can be specifically the processing in unmanned vehicle
Device, the processor can be general or application specific processors, can also be flight controller.
As shown in figure 3, unmanned vehicle 11 by holder 110 equipped with capture apparatus 111, capture apparatus 111 is for clapping
Image or video are taken the photograph, the processor 112 in unmanned vehicle 11 can obtain the video data that capture apparatus 111 takes, for example,
The video data that capture apparatus 111 is taken is transferred to processor 112 in real time.In the present embodiment, capture apparatus 111
The video data taken may include different types of picture frame, for example, intracoded frame (intra picture) abbreviation I
Frame, forward-predictive-coded frames (predictive-frame) abbreviation P frames, bi-directional predictive coding frame (bi-directional
Prediction frame) abbreviation B frames, wherein I frames can be regarded as a frame image is compressed itself after obtained knot
Fruit only uses the data of I frames with regard to restructural complete image when decoding.When a frame compression of images at P frames, need according to this frame and
Distilled edition frame is carried out in the difference of adjacent former frame (I frames or B frames), and when decoding needs to combine P frames and adjacent former frame (I frames
Or B frames) generate the complete image of a frame.When a frame compression of images at B frames, need according to adjacent former frame, this frame with
And distilled edition frame is carried out in the difference of latter frame data, namely only minute book frame and front and back frame difference, when decoding needs to combine B
Frame, adjacent former frame (I frames or P frames) and a later frame (P frames) generate the complete image of a frame.
Step S202, the picture frame of the preset kind in the video data is abandoned by processor.
In the present embodiment, when the processor 112 in unmanned vehicle 11 gets the video that capture apparatus 111 takes
When data, the picture frame of the preset kind in the video data is abandoned.The picture frame of the preset kind includes at least Two-way
Survey one kind in coded frame and forward-predictive-coded frames.In the present embodiment, processor 112 abandons the Two-way in video data
Survey coded frame, that is, B frames.It could complete to decode since B frames need to refer to its front and back frame, if a B frame needs to refer to behind 10
Frame could decode, then decode the delay that a B frame will cause 10 frames.In other embodiments, processor 112 can abandon video
Forward-predictive-coded frames, that is, P frames in data, alternatively, processor 112 can also abandon part B frames and part P frames.
Step S203, the video data after the picture frame by processor to abandoning preset kind encodes.
Processor 112 to abandon B frames after video data encoded after video data, the present embodiment is not
Limit specific coding method.
Step S204, the video data after sending coding to remote control equipment by communication interface.
It is encoded as shown in figure 3, processor 112 is sent by the communication interface 113 of unmanned vehicle 11 to remote control equipment 12
Video data afterwards.Video data after the coding is sent to terminal device 13 by remote control equipment 12, and terminal device 13 passes through base
It stands and 14 the video data after the coding is sent to remote server 15, remote equipment 16 obtains the coding from remote server 15
Video data afterwards, and the video data after the coding is decoded, since the video data after the coding does not include B frames,
Therefore, remote equipment 16 is when being decoded the video data after the coding, without necessarily referring to the subsequent frame of present frame
Present frame is decoded to obtain complete image and be shown.
The present embodiment obtains video data by the capture apparatus that unmanned vehicle carries, to default in the video data
The picture frame of type is abandoned, and the video data after picture frame to abandoning preset kind encodes, and will be after coding
Video data is sent to remote control equipment, is abandoned by the picture frame to preset kind, reduces the operand of Video coding,
The transmission quantity for reducing the video data after coding simultaneously, had not only saved the video encoding time of unmanned vehicle, but also save
Transmission time of the video data from unmanned vehicle to remote control equipment after coding regards in addition, also saving remote equipment decoding
The time of frequency evidence, and the complexity of remote equipment decoding video data is reduced, so as to shorten the time delay of net cast.
The embodiment of the present invention provides a kind of method of transmission of video.Fig. 4 is that the video that another embodiment of the present invention provides passes
The flow chart of defeated method.As shown in figure 4, on the basis of embodiment shown in Fig. 2, the method in the present embodiment may include:
Step S401, video data is obtained by the capture apparatus that unmanned vehicle carries.
As shown in Figures 3 and 5, the capture apparatus 111 that the processor 112 in 50 expression unmanned vehicles 11 is got takes
Video data, which includes several I frames, B frames, P frames, schematically illustrates herein, does not limit the video counts
According to the number of middle picture frame, the number of I frames, B frames, P frames is not limited yet.
Step S402, the picture frame of the preset kind in the video data is abandoned by processor.
Optionally, processor 112 abandon the video data in B frames, obtain 51 shown in video data, as shown in figure 5,
I frames and P frames are only included in video data 51.
Step S403, by the processor by each frame figure in the video data after the picture frame for abandoning preset kind
As being divided into multiple members.
Processor 112 can divide each frame image in video data 51, each frame image is divided into more
A piece member 52, the present embodiment do not limit the specific dividing mode to each frame image.
Step S404, the piece member that each frame image divides in the video data is compiled by the processor
Code.
The piece member 52 that processor 112 specifically divides each frame image in video data 51 encodes, to every
A piece member 52 encoded after being encoded after piece member 53.
Step S405, the piece member after sending each coding to remote control equipment by the communication interface.
Processor 112 can send each piece member 53 after encoding by communication interface 113 to remote control equipment 12.Compared to
A frame image after coding, the first 53 data volume smallers of piece after coding, when from unmanned vehicle 11 to the communication of remote control equipment 12
When the bandwidth of link is not high enough, the piece member 53 after coding can normally be transferred to remote control equipment 12 from unmanned vehicle 11.
Further, piece member 53 of the remote control equipment 12 by this after each coding is sent to terminal device 13, terminal device
Each piece member 53 after encoding is sent to remote server 15 by 13 by base station 14, and remote equipment 16 is from remote server 15
The piece member 53 after each coding is obtained, and the piece member 53 after each coding is decoded, after each coding
Piece member 53 does not include B frames, and therefore, remote equipment 16 is when being decoded the video data after the coding, without necessarily referring to working as
The subsequent frame of previous frame can be decoded present frame to obtain complete image and show.
Optionally, before the picture frame of the preset kind in abandoning the video data by processor, the video
Data without buffer caching;Or the video data after sending the coding to remote control equipment by communication interface it
Before, the video data after the coding is without buffer.It is regarded specifically, processor 112 is got from capture apparatus 111
Frequency evidence, before the B frames in abandoning the video data, the video data without buffer caching;Alternatively, processor
Before 112 send the piece member 53 after coding by communication interface 113 to remote control equipment 12, the piece member 53 after coding is without caching
Device caches.I.e. processor 112 obtains video data from capture apparatus 111 in real time, abandons the B frames in the video data, and right
It abandons the video data after B frames and is divided into piece member 52, and to the piece member 53 after being encoded after each coding of member 52, immediately
Piece member 53 after coding is sent to remote control equipment 12, avoid due to video data caching and/or to after coding piece member
Caching and increase the time delay of net cast.
Optionally, the buffer is the buffer inside processor 112.Alternatively, the buffer is outside processor 112
The buffer in portion.
Before picture frame of the present embodiment by the preset kind in abandoning video data, video data is without buffering
The caching of device;Or before the video data after sending the coding to remote control equipment by communication interface, regarding after coding
Frequency avoids due to the caching to video data and increases the time delay of net cast, further contract according to without buffer
The short time delay of net cast.
The embodiment of the present invention provides a kind of method of transmission of video.Fig. 6 is that the video that another embodiment of the present invention provides passes
The flow chart of defeated method.The method of transmission of video provided in an embodiment of the present invention is applied to unmanned vehicle, as shown in fig. 6,
Method in the present embodiment may include:
Step S601, video data is obtained by the capture apparatus that unmanned vehicle carries.
Step S601 is consistent with step S201, and details are not described herein again for detailed process.
Step S602, the video data is encoded by processor.
In conjunction with Fig. 3 and Fig. 6, the processor 112 in unmanned vehicle 11 after capture apparatus 111 gets video data,
Directly the video data is encoded, the video data after being encoded.
Step S603, the video data after sending coding to remote control equipment by communication interface.
It is encoded as shown in figure 3, processor 112 is sent by the communication interface 113 of unmanned vehicle 11 to remote control equipment 12
Video data afterwards.
Wherein, before being encoded to the video data by processor, the video data is without buffer
Caching;Or before the video data after sending the coding to remote control equipment by communication interface, after the coding
Video data is without buffer.Specifically, processor 112 is after capture apparatus 111 gets video data, to this
Before video data is encoded, the video data without buffer caching, alternatively, processor 112 to video data into
It, should before sending the video data after coding to remote control equipment 12 by the communication interface 113 of unmanned vehicle 11 after row coding
Video data without buffer caching.
The buffer is the buffer inside processor 112.Or the buffer is the buffering outside processor 112
Device.
Before the present embodiment is encoded by the video data that unmanned vehicle shoots capture apparatus, the video data
Without the caching of buffer;Or before unmanned vehicle sends the video data after coding to remote control equipment, the coding
Video data afterwards avoids increasing net cast to the caching of video data due to unmanned vehicle without buffer
Time delay.
The embodiment of the present invention provides a kind of method of transmission of video.Fig. 7 is that the video that another embodiment of the present invention provides passes
The flow chart of defeated method.As shown in fig. 7, on the basis of embodiment shown in Fig. 6, the method in the present embodiment may include:
Step S701, video data is obtained by the capture apparatus that unmanned vehicle carries.
Step S701 is consistent with step S201, and details are not described herein again for detailed process.
Step S702, the picture frame of the preset kind in the video data is abandoned by processor.
The picture frame of the preset kind includes at least one kind in bi-directional predictive coding frame and forward-predictive-coded frames.
Step S702 is consistent with step S202, and details are not described herein again for detailed process.
Step S703, the video data after the picture frame by processor to abandoning preset kind encodes.
Step S703 is consistent with step S203, and details are not described herein again for detailed process.
Step S704, the video data after sending coding to remote control equipment by communication interface.
Step S704 is consistent with step S204, and details are not described herein again for detailed process.
The present embodiment obtains video data by the capture apparatus that unmanned vehicle carries, to default in the video data
The picture frame of type is abandoned, and the video data after picture frame to abandoning preset kind encodes, and will be after coding
Video data is sent to remote control equipment, is abandoned by the picture frame to preset kind, reduces the operand of Video coding,
The transmission quantity for reducing the video data after coding simultaneously, had not only saved the video encoding time of unmanned vehicle, but also save
Transmission time of the video data from unmanned vehicle to remote control equipment after coding regards in addition, also saving remote equipment decoding
Time of frequency evidence, and reduce the complexity of remote equipment decoding video data, further shorten net cast when
Prolong.
The embodiment of the present invention provides a kind of method of transmission of video.Fig. 8 is that the video that another embodiment of the present invention provides passes
The flow chart of defeated method.As shown in figure 8, on the basis of Fig. 6 or embodiment illustrated in fig. 7, the method for transmission of video can be with
Including:Each frame image in the video data is divided into multiple members by processor.It is shown in Fig. 6 by taking Fig. 6 as an example
On the basis of embodiment, after step S601, it can also include the following steps:
Step S801, each frame image in the video data is divided by multiple members by processor.
As shown in figure 9, what the capture apparatus 111 that the processor 112 in 91 expression unmanned vehicles 11 is got took
Video data, the video data include several I frames, B frames, P frames, schematically illustrate herein, do not limit the video data
The number of middle picture frame does not limit the number of I frames, B frames, P frames yet.
Processor 112 can divide each frame image in video data 91, each frame image is divided into more
A piece member 92, the present embodiment do not limit the specific dividing mode to each frame image.In addition, in other embodiments, video counts
According to 91 can also be abandon preset kind picture frame after video data, such as abandon B frames after video data.
Correspondingly, step S602 encodes the video data by processor, including:
Step S802, the piece member that each frame image divides in the video data is encoded by processor.
The piece member 92 that processor 112 specifically divides each frame image in video data 91 encodes, to every
A piece member 92 encoded after being encoded after piece member 93.
Correspondingly, step S603 sends the video data after encoding by communication interface to remote control equipment, including:
Step S803, the piece member after sending each coding to remote control equipment by communication interface.
Processor 112 can send each piece member 93 after encoding by communication interface 113 to remote control equipment 12.Compared to
A frame image after coding, the first 93 data volume smallers of piece after coding, when from unmanned vehicle 11 to the communication of remote control equipment 12
When the bandwidth of link is not high enough, the piece member 93 after coding can normally be transferred to remote control equipment 12 from unmanned vehicle 11.
The present embodiment is divided every frame image that capture apparatus is shot by the processor of unmanned vehicle, and to drawing
Piece member after point is encoded, after the processor of unmanned vehicle sends each coding by communication interface to remote control equipment
Piece is first, and the piece member after each coding further reaches remote equipment by remote control equipment, terminal device, base station, remote server,
Piece member after each coding reaches remote equipment from unmanned vehicle and needs, by multiple communication links, to work as multiple communication links
In part of links or whole link bandwidth it is not high enough when, due to the data volume smaller of the piece member after coding, may make coding
Piece member afterwards can from unmanned vehicle normal transmission to remote equipment, avoid due to bandwidth not enough and caused by transmit when
Prolong.
The embodiment of the present invention provides a kind of method of transmission of video.Figure 10 is transmission of video provided in an embodiment of the present invention
The flow chart of method.The method of transmission of video provided in an embodiment of the present invention is applied to remote control equipment, as shown in Figure 10, this implementation
Example in method, may include:
Step S1001, the video data after the coding that unmanned vehicle is sent is received by communication interface.
The executive agent of the present embodiment method can be remote control equipment.
As shown in figure 11, remote control equipment 12 includes communication interface 121, processor 122 and communication interface 123, processor 122
It can be general or application specific processor.Processor 112 in unmanned vehicle 11 obtains the video that capture apparatus 111 takes
Data, and the video data after being encoded to the video data, processor 112 is by communication interface 113 to distant
It controls equipment 12 and sends the video data after coding, the communication of the reception unmanned vehicle 11 of communication interface 121 of remote control equipment 12 connects
Video data after the codings that mouth 113 is sent.
Step S1002, the video data after the coding is sent to by terminal device by processor.
Video data after coding is pass-through to processor 122 by the communication interface 121 of remote control equipment 12, and processor 122 will
Video data after coding is pass-through to terminal device 13, specifically, 122 communication control interface 123 of processor is by regarding after coding
Frequency evidence is pass-through to terminal device 13.
In the present embodiment, remote control equipment 12 and terminal device 13 can be wired, and can also be wirelessly connected, for example,
Remote control equipment 12 and terminal device 13 carry out wire communication, and remote control equipment 12 and unmanned vehicle 11 carry out wireless communication, then distant
The communication interface 121 for controlling equipment 12 is specially wireless communication interface, and the communication interface 123 of remote control equipment 12 is specially wire communication
Interface.
Wherein, described after the video data after receiving the coding that unmanned vehicle 11 is sent by communication interface 121
Video data without buffer caching;Or the video data after the coding is being sent to by end by processor 122
Before end equipment 13, the video data without buffer caching.
The buffer is the buffer inside processor 122;Alternatively, the buffer is slow outside processor 122
Rush device.
Video counts of the present embodiment by remote control equipment after receiving the coding that unmanned vehicle is sent by communication interface
According to later, the video data without buffer caching;Or by processor by the video data after the coding
It is sent to before terminal device, the video data is avoided without the caching of buffer since remote control equipment is to video data
Caching and increase the time delay of net cast.
The embodiment of the present invention provides a kind of method of transmission of video.Figure 12 is transmission of video provided in an embodiment of the present invention
The flow chart of method.The method of transmission of video provided in an embodiment of the present invention is applied to the terminal device being connect with remote control equipment,
As shown in figure 12, the method in the present embodiment may include:
Step S1201, the encoded video data that remote control equipment is sent, the encoded video data are received by communication interface
It is that the video data shot to the capture apparatus that unmanned vehicle carries is encoded.
The executive agent of the present embodiment method can be the terminal device being connect with remote control equipment.
As shown in figure 13, terminal device 13 includes communication interface 131, processor 132 and communication interface 133, processor 132
It can be general or application specific processor.Processor 112 in unmanned vehicle 11 obtains the video that capture apparatus 111 takes
Data, and the video data taken to capture apparatus 111 is encoded to obtain encoded video data, in unmanned vehicle 11
Processor 112 sends the encoded video data, the communication interface of remote control equipment 12 by communication interface 113 to remote control equipment 12
121 receive the encoded video data that unmanned vehicle 11 is sent, and remote control equipment 12 is further by the encoded video data transparent transmission
To terminal device 13, terminal device 13 receives the encoded video data that remote control equipment 12 is sent by communication interface 131.
Optionally, the encoded video data from unmanned vehicle 11 be transferred to terminal device 13 during without buffering
The caching of device.
Step S1202, the encoded video data is decoded by processor to obtain the video data.
After terminal device 13 receives the encoded video data that remote control equipment 12 is sent by communication interface 131, terminal
Equipment 13 is decoded the encoded video data by processor 132 to obtain decoded video data, and processor 132 is to this
After encoded video data decoding, the frame type in decoded video data, optionally, decoded video are further determined that
Frame type in data includes:I frames, P frames, B frames.
Step S1203, the picture frame of the preset kind in the video data is abandoned by processor.
The picture frame of the preset kind includes at least one kind in bi-directional predictive coding frame and forward-predictive-coded frames.
Terminal device 13 abandons the picture frame of the preset kind in the video data by processor 132, such as abandons B
Frame, detailed process is consistent with the discarding of processor 112 process of picture frame such as B frames of preset kind, and details are not described herein again.
Step S1204, the video data after the picture frame by processor to abandoning preset kind encodes.
Terminal device 13 encodes the video data after abandoning B frames in above-mentioned steps by processor 132, Ke Yili
Solution, the video data encoding after abandoning B frames is the video data of multiple format by processor 132 by terminal device 13, optional
, the video data encoding after abandoning B frames is the video data of RTMP formats by processor 132.
Step S1205, the video data after sending coding to streaming media server by processor.
Terminal device 13 sends the video of the video data such as RTMP formats after encoding by processor 132 to base station 14
Video data after the coding is passed through streaming media server 17 by data, base station 14, specifically, 132 communication control of processor
Interface 133 sends the video data after encoding to base station 14.In the present embodiment, terminal device 13 can be specifically mobile whole
End, such as smart mobile phone are equipped with application program on the smart mobile phone, which is corresponding with user interface, and user can be with
By carrying out the video data after operation and control smart mobile phone sends coding to base station in real time to the user interface.
In addition, after the picture frame of the preset kind during step S1203 abandons the video data by processor, institute
The method of stating further includes:Each frame image in the video data after the picture frame for abandoning preset kind is drawn by the processor
It is divided into multiple members;Correspondingly, the video data after picture frames of the step S1204 by processor to abandoning preset kind carries out
Coding includes:The piece member that each frame image divides in the video data is encoded by the processor;Step
S1205 by processor to streaming media server send coding after video data include:By the processor to Streaming Media
Server sends the piece member after each coding.
Processor 132 abandons B frames, and multiple members are divided into each frame image in the video data after discarding B frames, with
And the concrete principle that is encoded of the piece member that each frame image is divided and realization method with embodiment illustrated in fig. 4 class
Seemingly, details are not described herein again.Piece after terminal device 13 sends each coding by from processor 132 to base station 14 is first, base station 14
Piece member after each is encoded passes through streaming media server 17, specifically, 132 communication control interface 133 of processor is to base
Stand 14 send each coding after piece member.
In addition, before being decoded to the encoded video data by processor 132, the encoded video data is not
By the caching of buffer;Or before sending the video data after coding to streaming media server 17 by processor 132,
Video data after the coding is without buffer.The buffer is the buffer inside processor 132.It is described slow
It is the buffer outside processor 132 to rush device.
The present embodiment receives the encoded video data that remote control equipment is sent by terminal device, to the encoded video data solution
The picture frame that preset kind is abandoned after code, the video data after picture frame to abandoning preset kind encode, and will coding
Video data afterwards is sent to streaming media server, is abandoned by the picture frame to preset kind, reduces Video coding
Operand, while reduce coding after video data transmission quantity, not only saved the video encoding time of terminal device, but also
Transmission time of the video data after coding from terminal device to streaming media server is saved, is set in addition, also saving distal end
The time of standby decoding video data, and the complexity of remote equipment decoding video data is reduced, it is straight so as to shorten video
The time delay broadcast.In addition, terminal device, before being decoded to the encoded video data, the encoded video data is without buffering
The caching of device;Or terminal device is before the video data after sending the coding to streaming media server, regarding after coding
Frequency avoids the time delay for increasing the caching of video data net cast due to terminal device according to without buffer,
Further shorten the time delay of net cast.
The embodiment of the present invention provides a kind of method of transmission of video.Figure 14 is transmission of video provided in an embodiment of the present invention
The flow chart of method.The method of transmission of video provided in an embodiment of the present invention is applied to the terminal device being connect with remote control equipment,
As shown in figure 14, the method in the present embodiment may include:
Step S1401, the encoded video data that remote control equipment is sent, the encoded video data are received by communication interface
It is that the video data shot to the capture apparatus that unmanned vehicle carries is encoded.
The executive agent of the present embodiment method can be the terminal device being connect with remote control equipment.
As shown in figure 13, terminal device 13 includes communication interface 131, processor 132 and communication interface 133, processor 132
It can be general or application specific processor.Processor 112 in unmanned vehicle 11 obtains the video that capture apparatus 111 takes
Data, and the video data taken to capture apparatus 111 is encoded to obtain encoded video data, in unmanned vehicle 11
Processor 112 sends the encoded video data, the communication interface of remote control equipment 12 by communication interface 113 to remote control equipment 12
121 receive the encoded video data that unmanned vehicle 11 is sent, and remote control equipment 12 is further by the encoded video data transparent transmission
To terminal device 13, terminal device 13 receives the encoded video data that remote control equipment 12 is sent by communication interface 131.
Optionally, the encoded video data from unmanned vehicle 11 be transferred to terminal device 13 during without buffering
The caching of device.
Step S1402, the encoded video data is decoded by processor to obtain the video data.
After terminal device 13 receives the encoded video data that remote control equipment 12 is sent by communication interface 131, terminal
Equipment 13 is decoded the encoded video data by processor 132 to obtain decoded video data.
Step S1403, the video data is encoded by processor.
Terminal device 13 encodes the video data that above-mentioned steps decode by processor 132, it will be understood that
The video data encoding that terminal device 13 is decoded above-mentioned steps by processor 132 is the video data of multiple format,
Optionally, which is the video data of RTMP formats by processor 132.
Step S1404, the video data after sending coding to streaming media server by processor.
Terminal device 13 sends the video of the video data such as RTMP formats after encoding by processor 132 to base station 14
Video data after the coding is passed through streaming media server 17 by data, base station 14, specifically, 132 communication control of processor
Interface 133 sends the video data after encoding to base station 14.
It is appreciated that can be communicated by multiple network agreement between terminal device 13 and base station 14.Default network association
View can be one or more of multiple network agreement.Terminal device 13 is communicated according to default procotol with base station 14,
Ensure the accuracy of the video data transmission after coding.
In some embodiments, default procotol includes RTMP procotols.
It is appreciated that RTMP procotols are a kind of real-time messages transport protocols.Video is carried out using RTMP procotols
Realtime video transmission to streaming media server 17, remote equipment 16 can also can in real time be got video counts by the transmission of data
According to.
Wherein, before being decoded to the encoded video data by processor 132, the encoded video data is not
By the caching of buffer;Or before sending the video data after coding to streaming media server 17 by processor 132,
Video data after the coding is without buffer.
Optionally, the buffer is the buffer inside processor 132.Alternatively, the buffer is outside processor 132
The buffer in portion.
Further, the method further includes:The image of the preset kind in the video data is abandoned by processor
Frame;The video data is the video being decoded to the encoded video data by processor in step S1402
Data.Correspondingly, step S1403 by processor to the video data carry out coding include:It is pre- to abandoning by processor
If the video data after the picture frame of type is encoded.Optionally, the picture frame of the preset kind includes at least Two-way
Survey one kind in coded frame and forward-predictive-coded frames.For example, terminal device 13 by processor 132 to the encoded video number
Include I frames, P frames, B frames according to the video data being decoded, processor 132 abandons the B in the video data that decoding obtains
Frame, the concrete principle and realization method encoded to the video data after discarding B frames is similar with embodiment illustrated in fig. 2, this
Place repeats no more.
In other embodiments, the method further includes:By processor by each frame image in the video data
It is divided into multiple members;The video data is to be solved to the encoded video data by processor in step S1402
The video data that code obtains.Correspondingly, step S1403 by processor to the video data carry out coding include:Pass through place
Reason device encodes the piece member that each frame image divides in the video data;Step S1404 is by processor to stream
Media server send coding after video data include:After each coding being sent by processor to streaming media server
Piece member.Each frame image in video data is divided into multiple members by processor 132, and the piece member obtained to division encodes
Concrete principle and realization method it is similar with embodiment illustrated in fig. 4, details are not described herein again.Terminal device 13 passes through processor
132 send each piece member after encoding to base station 14, each piece member after encoding is passed through streaming media service by base station 14
Device 17, specifically, the piece after 132 communication control interface 133 of processor sends each coding to base station 14 is first.
Before the present embodiment is decoded by the encoded video data that terminal device sends remote control equipment, which regards
Frequency is according to the caching without buffer;Or terminal device regarding after sending terminal device coding to streaming media server
Before frequency evidence, the video data after coding avoids the caching to video data due to terminal device without buffer
And increase the time delay of net cast, shorten the time delay of net cast.In addition, receiving what remote control equipment was sent by terminal device
Encoded video data is decoded the encoded video data, and to the image of the preset kind in decoded video data
Frame is abandoned, and the video data after picture frame to abandoning preset kind encodes, and by the video data transmitting after coding
Streaming media server is given, is abandoned by the picture frame to preset kind, reduces the operand of Video coding, subtracts simultaneously
Lacked coding after video data transmission quantity, not only saved the video encoding time of terminal device, but save coding after
Transmission time of the video data from terminal device to streaming media server, in addition, also saving remote equipment decoding video data
Time, and reduce the complexity of remote equipment decoding video data, further shorten the time delay of net cast.
The embodiment of the present invention provides a kind of method of transmission of video.Figure 15 is transmission of video provided in an embodiment of the present invention
The flow chart of method.The method of transmission of video provided in an embodiment of the present invention is applied to streaming media server, as shown in figure 15, this
Method in embodiment may include:
Step S1501, the encoded video data sent by communication interface receiving terminal apparatus, the encoded video data
It is that the video data shot to the capture apparatus that unmanned vehicle carries is encoded.
The executive agent of the present embodiment method can be streaming media server.
As shown in figure 16, streaming media server 17 includes communication interface 171, processor 172 and communication interface 173, processing
Device 172 can be general or application specific processor.Processor 112 in unmanned vehicle 11 obtains capture apparatus 111 and takes
Video data, and the video data taken to capture apparatus 111 is encoded to obtain encoded video data, unmanned vehicle
Processor 112 in 11 sends the encoded video data, the communication of remote control equipment 12 by communication interface 113 to remote control equipment 12
Interface 121 receives the encoded video data that unmanned vehicle 11 is sent, and remote control equipment 12 is further by the encoded video data
Terminal device 13 is passed through, terminal device 13 receives the encoded video data that remote control equipment 12 is sent by communication interface 131.
The encoded video data is further passed through streaming media server 17, streaming media server 17 by terminal device 13 by base station 14
The encoded video data that base station 14 forwards is received by communication interface 171.
Optionally, the encoded video data from unmanned vehicle 11 be transferred to streaming media server 17 during without
The caching of buffer.
It is appreciated that can be communicated by multiple network agreement between base station 14 and streaming media server 17.Default net
Network agreement can be one or more of multiple network agreement.Base station 14 according to default procotol and streaming media server 17 into
Row communication, it is ensured that the accuracy of video data transmission.
In some embodiments, default procotol includes RTMP procotols.
It is appreciated that RTMP procotols are a kind of real-time messages transport protocols.Video is carried out using RTMP procotols
Realtime video transmission to streaming media server 17, remote equipment 16 can also can in real time be got video counts by the transmission of data
According to.In the present embodiment, the encoded video number that streaming media server 17 is forwarded by the base station 14 that communication interface 171 receives
According to the video data that can be specifically RTMP formats.
Step S1502, the encoded video data is decoded by processor to obtain the video data.
After streaming media server 17 receives the encoded video data that base station 14 forwards by communication interface 171, Streaming Media
Server 17 is decoded the encoded video data by processor 172 to obtain decoded video data, and processor 172 is right
After encoded video data decoding, the frame type in decoded video data is further determined that, it is optionally, decoded to regard
Frequency according in frame type include:I frames, P frames, B frames.
Step S1503, the picture frame of the preset kind in the video data is abandoned by processor.
The picture frame of the preset kind includes at least one kind in bi-directional predictive coding frame and forward-predictive-coded frames.
Streaming media server 17 abandons the picture frame of the preset kind in the video data by processor 172, for example,
B frames are abandoned, detailed process is consistent with the discarding of processor 112 process of picture frame such as B frames of preset kind, no longer superfluous herein
It states.
Step S1504, the video data after the picture frame by processor to abandoning preset kind encodes.
Streaming media server 17 encodes the video data after abandoning B frames in above-mentioned steps by processor 172, can
To understand, the video data encoding after abandoning B frames is the video counts of multiple format by processor 172 by streaming media server 17
According to the format of the video data after the coding of processor 172 can be determined by the type of remote equipment 16, it will be understood that distally be set
Standby 16 may include plurality of devices, such as the equipment of IOS systems, the equipment of Android system etc., the equipment of IOS systems and Android system
The format of the supported video data of equipment of system is different, and equipment such as iPhone, Apple Computers of IOS systems etc. supports HLS
The video data of format, the equipment of Android system is such as using the mobile phone of Android system, the computer support using Windows systems
The video data of RTMP and M3U8 formats, if remote equipment 16 is the equipment such as iPhone, Apple Computers etc. of IOS systems,
Streaming media server 17 can by processor 172 by abandon B frames after video data encoding be HLS formats video data.
Step S1505, the video data after sending coding to remote equipment by processor.
Streaming media server 17 sends the video data such as HLS lattice after encoding to remote equipment 16 by processor 172
The video data of formula specifically includes following several feasible realization methods:
One kind is feasible to be achieved in that:After 172 communication control interface 173 of processor sends coding to remote equipment 16
The video acquisition address of video data such as HLS formats.
Another kind is feasible to be achieved in that:After processor 172 encodes the video data for abandoning B frames, processor
172 communication control interfaces 173 send the corresponding video acquisition address of the video data such as HLS formats after encoding to server 18
Video acquisition address, then the video acquisition address of HLS formats is sent to remote equipment 16, remote equipment 16 by server 18
Such as the equipment of IOS systems obtains regarding for HLS formats according to the video acquisition address of the HLS formats from streaming media server 17
Frequency evidence.
In some embodiments, video acquisition address includes one or more formats, and remote equipment 16 is according to the video
Obtaining video data of the address after obtaining coding in streaming media server 17 includes:Remote equipment 16 is regarded according to a kind of format
Frequency obtains a kind of video after obtaining coding in streaming media server 17 in address or the video acquisition address of multiple format
Data.
It is appreciated that remote equipment 16 may include plurality of devices, such as the equipment of IOS systems, the equipment of Android system
Deng, therefore the format of the video acquisition address between remote equipment 16 and streaming media server 17 is also with a variety of.In this way, stream matchmaker
Body server 17 sends the video acquisition address of multiple format, then to the selection freedom bigger of remote equipment 16, in other words,
Various types of remote equipments 16 can obtain video data according to the video acquisition address of corresponding format.
In some embodiments, the format of video acquisition address includes tri- kinds of formats of HLS, RTMP and M3U8.Wherein,
The equipment that the video acquisition address of HLS formats is suitable for IOS systems, such as iPhone, Apple Computers.RTMP and M3U8 formats
Video acquisition address be suitable for non-IOS systems equipment, such as using Android system mobile phone, use the electricity of Windows systems
Brain etc..
It is appreciated that can be communicated by multiple network agreement between remote equipment 16 and server 18.Default network
Agreement is one or more of multiple network agreement.Optionally, default procotol includes Websocket procotols.Far
End equipment 16 sends the instruction for obtaining video data by Websocket procotols to server 18, and server 18 is according to this
Obtain the instruction of video data and feed back video acquisition address to remote equipment 16, remote equipment 16 according to the video acquisition address from
The video data after coding is obtained in streaming media server 17.
In other embodiments, after the picture frame of the preset kind in abandoning the video data by processor,
The method further includes:By the processor by each frame image in the video data after the picture frame for abandoning preset kind
It is divided into multiple members;Correspondingly, step S1504 by processor to abandon preset kind picture frame after video data into
Row encodes:The piece member that each frame image divides in the video data is encoded by the processor;Step
Suddenly S1505 includes by the video data that processor is sent to remote equipment after encoding:By the processor to remote equipment
Send the piece member after each coding.
Processor 172 abandons B frames, and multiple members are divided into each frame image in the video data after discarding B frames, with
And the concrete principle that is encoded of the piece member that each frame image is divided and realization method with embodiment illustrated in fig. 4 class
Seemingly, details are not described herein again.Streaming media server 17 sends each piece after encoding by processor 172 to remote equipment 16
Member, specifically, the piece after 172 communication control interface 173 of processor sends each coding to remote equipment 16 is first.
In addition, before being decoded to the encoded video data by processor 172, the encoded video data is not
By the caching of buffer;It is described or before sending the video data after coding to remote equipment 16 by processor 172
Video data after coding is without buffer.Optionally, the buffer is the buffer inside processor 172.Or
Person, the buffer are the buffer outside processor 172.
The encoded video data that the present embodiment is sent by streaming media server receiving terminal apparatus, to the encoded video number
According to the picture frame for abandoning preset kind after decoding, the video data after picture frame to abandoning preset kind encodes, and will
Video data after coding is sent to remote equipment, is abandoned by the picture frame to preset kind, reduces Video coding
Operand, while reduce coding after video data transmission quantity, when both having saved the Video coding of streaming media server
Between, and transmission time of the video data from streaming media server to remote equipment after coding is saved, in addition, also saving remote
The time of end equipment decoding video data, and the complexity of remote equipment decoding video data is reduced, so as to shorten regarding
The time delay of frequency live streaming.In addition, streaming media server, before being decoded to the encoded video data, the encoded video data is not
By the caching of buffer;Or streaming media server is compiled before the video data after sending the coding to remote equipment
Video data after code avoids increasing video to the caching of video data due to streaming media server without buffer
The time delay of live streaming further shortens the time delay of net cast.
The embodiment of the present invention provides a kind of method of transmission of video.Figure 17 is transmission of video provided in an embodiment of the present invention
The flow chart of method.The method of transmission of video provided in an embodiment of the present invention is applied to streaming media server, as shown in figure 17, this
Method in embodiment may include:
Step S1701, the encoded video data sent by communication interface receiving terminal apparatus, the encoded video data
It is that the video data shot to the capture apparatus that unmanned vehicle carries is encoded.
The executive agent of the present embodiment method can be streaming media server.
As shown in figure 16, streaming media server 17 includes communication interface 171, processor 172 and communication interface 173, processing
Device 172 can be general or application specific processor.Processor 112 in unmanned vehicle 11 obtains capture apparatus 111 and takes
Video data, and the video data taken to capture apparatus 111 is encoded to obtain encoded video data, unmanned vehicle
Processor 112 in 11 sends the encoded video data, the communication of remote control equipment 12 by communication interface 113 to remote control equipment 12
Interface 121 receives the encoded video data that unmanned vehicle 11 is sent, and remote control equipment 12 is further by the encoded video data
Terminal device 13 is passed through, terminal device 13 receives the encoded video data that remote control equipment 12 is sent by communication interface 131.
The encoded video data is further passed through streaming media server 17, streaming media server 17 by terminal device 13 by base station 14
The encoded video data that base station 14 forwards is received by communication interface 171.
Optionally, the encoded video data from unmanned vehicle 11 be transferred to streaming media server 17 during without
The caching of buffer.In the present embodiment, streaming media server 17 is somebody's turn to do by what the base station 14 that communication interface 171 receives forwarded
Encoded video data can be specifically the video data of RTMP formats.
Step S1702, the encoded video data is decoded by processor to obtain the video data.
It is appreciated that remote equipment 16 may include plurality of devices, such as the equipment of IOS systems, the equipment of Android system
Deng, the format difference of the equipment of IOS systems and the supported video data of the equipment of Android system, the equipment such as apple of IOS systems
Fruit mobile phone, Apple Computers etc. support the video data of HLS formats, the equipment of Android system such as using the mobile phone of Android system, make
Computer with Windows systems etc. supports the video data of RTMP and M3U8 formats.
If remote equipment 16 is the equipment such as iPhone, Apple Computers etc. of IOS systems, streaming media server 17 needs
The video data of RTMP formats is converted to the video data of HLS formats, specifically, streaming media server 17 passes through communication interface
After 171 receive the video data for the RTMP formats that base station 14 forwards, streaming media server 17 is by processor 172 to RTMP lattice
The video data of formula is decoded to obtain decoded video data.
Step S1703, the video data is encoded by processor.
Streaming media server 17 encodes decoded video data by processor 172, such as is encoded to HLS lattice
The video data of formula.
Step S1704, the video data after sending coding to remote equipment by processor.
Streaming media server 17 sends the video data such as HLS lattice after encoding to remote equipment 16 by processor 172
The video data of formula, specifically, 172 communication control interface 173 of processor sends the video data after encoding to remote equipment 16
Such as the video data of HLS formats.
Wherein, before being decoded to the encoded video data by processor 172, the encoded video data is not
By the caching of buffer;It is described or before sending the video data after coding to remote equipment 16 by processor 172
Video data after coding is without buffer.Optionally, the buffer is the buffer inside processor 172.Or
Person, the buffer are the buffer outside processor 172.
In other embodiments, the method further includes:The preset kind in the video data is abandoned by processor
Picture frame;The video data is to be decoded to obtain to the encoded video data by processor in step S1702
Video data.Correspondingly, step S1703 by processor to the video data carry out coding include:Pass through processor pair
The video data after the picture frame of preset kind is abandoned to be encoded.The picture frame of the preset kind includes at least bi-directional predicted
One kind in coded frame and forward-predictive-coded frames.For example, streaming media server 17 by processor 172 to the encoded video
The video data that data are decoded includes I frames, P frames, B frames, and processor 172 abandons the B frames in video data, to abandoning
The concrete principle and realization method that video data after B frames is encoded are similar with embodiment illustrated in fig. 2, no longer superfluous herein
It states.
In some embodiments, the method further includes:By processor by each frame image in the video data
It is divided into multiple members;The video data is to be solved to the encoded video data by processor in step S1702
The video data that code obtains.Correspondingly, step S1703 by processor to the video data carry out coding include:Pass through place
Reason device encodes the piece member that each frame image divides in the video data;Step S1704 is by processor to remote
End equipment send coding after video data include:Piece member after sending each coding to remote equipment by processor.Place
Each frame image in video data is divided into multiple members by reason device 172, is encoded to the piece member that division obtains specific
Principle and realization method are similar with embodiment illustrated in fig. 4, and details are not described herein again.Streaming media server 17 passes through processor 172
Piece member after sending from each coding to remote equipment 16, specifically, 172 communication control interface 173 of processor is to remote equipment
16 send the piece member after each coding.
Before the present embodiment is decoded by the encoded video data that streaming media server sends terminal device, the volume
Code video data without buffer caching;Or streaming media server is sending streaming media server volume to remote equipment
Before video data after code, the video data after coding is avoided without buffer since streaming media server is to regarding
The caching of frequency evidence and the time delay for increasing net cast, shorten the time delay of net cast.In addition, being connect by streaming media server
The encoded video data that terminal device is sent is received, which is decoded, and in decoded video data
The picture frame of preset kind abandoned, the video data after picture frame to abandoning preset kind encodes, and will compile
Video data after code is sent to remote equipment, is abandoned by the picture frame to preset kind, reduces Video coding
Operand, while reducing the transmission quantity of the video data after coding, the video encoding time of streaming media server had both been saved,
Transmission time of the video data after coding from streaming media server to remote equipment is saved again, in addition, also saving distal end
The time of equipment decoding video data, and the complexity of remote equipment decoding video data is reduced, it further shortens and regards
The time delay of frequency live streaming.
The embodiment of the present invention provides a kind of method of transmission of video.Figure 18 is transmission of video provided in an embodiment of the present invention
The flow chart of method.The method of transmission of video provided in an embodiment of the present invention is applied to the terminal device being connect with remote control equipment,
As shown in figure 18, the method in the present embodiment may include::
Step S1801, the encoded video data that remote control equipment is sent, the encoded video data are received by communication interface
It is that the video data shot to the capture apparatus that unmanned vehicle carries is encoded.
As shown in figure 13, terminal device 13 receives the encoded video data that remote control equipment 12 is sent by communication interface 131,
The encoded video data can be specifically the video counts that the processor 112 in unmanned vehicle 11 takes capture apparatus 111
Can also be the discarding shooting of capture apparatus 111 of processor 112 in unmanned vehicle 11 according to the video data encoded
To video data in preset kind picture frame after, to abandon preset kind picture frame after video data encode
Obtained video data, the encoded video data are transferred to terminal device 13 by remote control equipment 12.
Step S1802, the encoded video data is sent to by streaming media server by processor.
In the present embodiment, the encoded video data is pass-through to processor by the communication interface 131 of terminal device 13
132, the encoded video data is pass-through to base station 14 by processor 132, specifically, 132 communication control interface 133 of processor will
The encoded video data is pass-through to base station 14, and the encoded video data is pass-through to streaming media server 17 by base station 14.
Wherein, after receiving the encoded video data that remote control equipment 12 is sent by communication interface 131, the coding regards
Frequency is according to the caching without buffer;Or the encoded video data is being sent to by Streaming Media clothes by processor 172
Be engaged in device 17 before, the encoded video data without buffer caching.
The buffer is the buffer inside processor 132;Alternatively, the buffer is slow outside processor 132
Rush device.
The present embodiment by terminal device by communication interface receive remote control equipment send encoded video data after,
The encoded video data without buffer caching;Or the encoded video data is being sent to by stream by processor
Before media server, the encoded video data is avoided without the caching of buffer since terminal device is to encoded video
The caching of data and the time delay for increasing net cast.
The embodiment of the present invention provides a kind of method of transmission of video.Figure 19 is transmission of video provided in an embodiment of the present invention
The flow chart of method.The method of transmission of video provided in an embodiment of the present invention is applied to streaming media server, as shown in figure 19, this
Method in embodiment may include:
Step S1901, the encoded video data sent by communication interface receiving terminal apparatus, the encoded video data
It is that the video data shot to the capture apparatus that unmanned vehicle carries is encoded.
As shown in figure 16, streaming media server 17 receives the encoded video data that base station 14 forwards by communication interface 171,
The encoded video data can be specifically the video counts that the processor 112 in unmanned vehicle 11 takes capture apparatus 111
Can also be the discarding shooting of capture apparatus 111 of processor 112 in unmanned vehicle 11 according to the video data encoded
To video data in preset kind picture frame after, to abandon preset kind picture frame after video data encode
Obtained video data, the encoded video data are transferred to by the transparent transmission of remote control equipment 12, terminal device 13, base station 14 successively
Streaming media server 17.
In other embodiments, which can be specifically after being encoded to processor 112 by terminal device 13
Obtained video data is decoded, abandons preset kind in decoded video data picture frame, to abandoning preset kind
Picture frame after the video data that is encoded of video data, optionally, terminal device 13 encodes obtained video counts
According to the video data that can be specifically RTMP formats.The encoded video data is transferred to Streaming Media by the transparent transmission of base station 14 successively
Server 17.
In other embodiments, which, which specifically can also be, encodes processor 112 by terminal device 13
The video data obtained afterwards is decoded, re-encode after obtained video data, optionally, terminal device 13 encodes regarding of obtaining
Frequency is according to the video data that can be specifically RTMP formats.The encoded video data is transferred to stream by the transparent transmission of base station 14 successively
Media server 17.
It is appreciated that remote equipment 16 may include plurality of devices, such as the equipment of IOS systems, the equipment of Android system
Deng, the format difference of the equipment of IOS systems and the supported video data of the equipment of Android system, the equipment such as apple of IOS systems
Fruit mobile phone, Apple Computers etc. support the video data of HLS formats, the equipment of Android system such as using the mobile phone of Android system, make
Computer with Windows systems etc. supports the video data of RTMP and M3U8 formats.
Step S1902, the encoded video data is sent to by remote equipment by processor.
In the present embodiment, remote equipment 16 is specially the equipment such as the mobile phone using Android system, use of Android system
The computer of Windows systems.Since the equipment of Android system is as used the mobile phone of Android system, using the electricity of Windows systems
Brain etc. supports the video data of RTMP and M3U8 formats, and therefore, streaming media server 17 need not be to the video counts of RTMP formats
According to format conversion is carried out, the video data of the RTMP formats can be pass-through to remote equipment 16 by communication interface 173.
In the present embodiment, streaming media server 17 and remote equipment 16 can be wired, and can also be wirelessly connected, example
Such as, streaming media server 17 and remote equipment 16 carry out wire communication, then communication interface 173 is specially wire communication interface, if
Streaming media server 17 and remote equipment 16 carry out wireless communication, then communication interface 173 is specially wireless communication interface.
Wherein, after the encoded video data sent by 171 receiving terminal apparatus 13 of communication interface, the coding regards
Frequency is according to the caching without buffer;Or the encoded video data is being sent to by remote equipment by processor 172
Before 16, the encoded video data without buffer caching.
The buffer is the buffer inside processor 172;Alternatively, the buffer is slow outside processor 172
Rush device.
The present embodiment is by streaming media server in the encoded video data sent by communication interface receiving terminal apparatus
Later, the encoded video data without buffer caching;Or the encoded video data is being sent out by processor
Before giving remote equipment, the encoded video data is avoided without the caching of buffer since streaming media server is to compiling
The caching of code video data and increase the time delay of net cast.
The embodiment of the present invention provides a kind of unmanned vehicle.Figure 20 is the knot of unmanned vehicle provided in an embodiment of the present invention
Composition, as shown in figure 20, unmanned vehicle 200 includes:Fuselage, dynamical system and processor 208, the dynamical system include such as
Lower at least one:Motor 207, propeller 206 and electron speed regulator 209, dynamical system is mounted on the fuselage, winged for providing
Action edge;Processor 208 can be specifically flight controller, can also be general or application specific processor.Flight controller with
The dynamical system communication connection, for controlling the unmanned vehicle flight.
In addition, as shown in figure 20, unmanned vehicle 200 further includes:Communication interface 205, support equipment 202, capture apparatus
204, wherein support equipment 202 can be specifically holder, and capture apparatus 204 is for obtaining video data;Processor 208 is used for
Abandon the picture frame of the preset kind in the video data;And the video data after the picture frame to abandoning preset kind carries out
Coding;Communication interface 205 is used to send the video data after encoding to remote control equipment.
Optionally, the picture frame of the preset kind includes at least in bi-directional predictive coding frame and forward-predictive-coded frames
It is a kind of.
After processor 208 abandons the picture frame of the preset kind in the video data, it is additionally operable to:Class is preset by abandoning
Each frame image in video data after the picture frame of type is divided into multiple members;Processor 208 is to abandoning preset kind
When video data after picture frame is encoded, it is specifically used for:To the piece that each frame image divides in the video data
Member is encoded;Communication interface 205 send the coding to remote control equipment after video data when, be specifically used for:It is set to remote control
Piece after preparation gives each to encode is first.
Optionally, before the picture frame of the preset kind during the processor abandons the video data, the video
Data without buffer caching;Or the video data after the communication interface sends the coding to remote control equipment it
Before, the video data after the coding is without buffer.The buffer is the buffer inside the processor.Or
Buffer described in person is the buffer outside the processor.
The concrete principle and realization method of unmanned vehicle provided in an embodiment of the present invention with embodiment illustrated in fig. 2 class
Seemingly, details are not described herein again.
The embodiment of the present invention provides a kind of unmanned vehicle.Figure 20 is the knot of unmanned vehicle provided in an embodiment of the present invention
Composition, as shown in figure 20, unmanned vehicle 200 includes:Capture apparatus 204, processor 208, communication interface 205, capture apparatus
204 for obtaining video data;Processor 208 is for encoding the video data;Communication interface 205 is used for remote control
Equipment sends the video data after coding;Wherein, before the processor encodes the video data, the video
Data without buffer caching;Or the video data after the communication interface sends the coding to remote control equipment it
Before, the video data after the coding is without buffer.Optionally, the buffer is slow inside the processor
Rush device.Alternatively, the buffer is the buffer outside the processor.
In other embodiments, processor 208 is additionally operable to:Abandon the picture frame of the preset kind in the video data;
When processor 208 encodes the video data, it is specifically used for:The video data after picture frame to abandoning preset kind
It is encoded.The picture frame of the preset kind includes at least one kind in bi-directional predictive coding frame and forward-predictive-coded frames.
In some embodiments, processor 208 is additionally operable to:Each frame image in the video data is divided into multiple
Piece member;When processor 208 encodes the video data, it is specifically used for:Each frame image in the video data is drawn
The piece member got is encoded;When communication interface 205 sends the video data after encoding to remote control equipment, it is specifically used for:To
Remote control equipment sends the piece member after each coding.
The concrete principle and realization method of unmanned vehicle provided in an embodiment of the present invention with embodiment illustrated in fig. 6 class
Seemingly, details are not described herein again.
The embodiment of the present invention provides a kind of remote control equipment.As shown in figure 11, remote control equipment 120 includes:121 He of communication interface
Processor 122, communication interface 121 are used to receive the video data after the coding of unmanned vehicle transmission;Processor 122 is used for will
Video data after the coding is sent to terminal device;Wherein, after communication interface 121 receives the coding that unmanned vehicle is sent
Video data after, the video data without buffer caching;Or processor 122 is by the video after the coding
Data are sent to before terminal device, the video data without buffer caching.
The buffer is the buffer inside the processor;Alternatively, the buffer is outside the processor
Buffer.
The concrete principle and realization method of remote control equipment provided in an embodiment of the present invention are similar with embodiment illustrated in fig. 10,
Details are not described herein again.
The embodiment of the present invention provides a kind of terminal device.As shown in figure 13, terminal device 13 includes:131 He of communication interface
Processor 132;Communication interface 131 is used to receive the encoded video data of remote control equipment transmission, and the encoded video data is pair
What the video data for the capture apparatus shooting that unmanned vehicle carries was encoded;Processor 132 is used for:To the coding
Video data is decoded to obtain the video data;Abandon the picture frame of the preset kind in the video data;To abandoning
Video data after the picture frame of preset kind is encoded;Video data after sending from coding to streaming media server.
The picture frame of the preset kind includes at least one kind in bi-directional predictive coding frame and forward-predictive-coded frames.
After processor 132 abandons the picture frame of the preset kind in the video data, it is additionally operable to:Class is preset by abandoning
Each frame image in video data after the picture frame of type is divided into multiple members;Processor 132 is to abandoning preset kind
When video data after picture frame is encoded, it is specifically used for:To the piece that each frame image divides in the video data
Member is encoded;When processor 132 sends the video data after encoding to streaming media server, it is specifically used for:It is taken to Streaming Media
Business device sends the piece member after each coding.
Optionally, before the processor is decoded the encoded video data, the encoded video data is not
By the caching of buffer;It is described or before the processor sends the video data after coding to streaming media server
Video data after coding is without buffer.
The buffer is the buffer inside the processor.Alternatively, the buffer is outside the processor
Buffer.
The concrete principle and realization method of terminal device provided in an embodiment of the present invention are similar with embodiment illustrated in fig. 12,
Details are not described herein again.
The embodiment of the present invention provides a kind of terminal device.As shown in figure 13, terminal device 13 includes:131 He of communication interface
Processor 132;Communication interface 131 is used to receive the encoded video data of remote control equipment transmission, and the encoded video data is pair
What the video data for the capture apparatus shooting that unmanned vehicle carries was encoded;Processor 132 is used for:To the coding
Video data is decoded to obtain the video data;The video data is encoded;And it is sent to streaming media server
Video data after coding;Wherein, before processor 132 is decoded the encoded video data, the encoded video
Data without buffer caching;Or the video data after processor 132 sends the coding to streaming media server
Before, the video data after the coding is without buffer.Optionally, the buffer is inside the processor
Buffer.Alternatively, the buffer is the buffer outside the processor.
In other embodiments, processor 132 is additionally operable to:Abandon the picture frame of the preset kind in the video data;
When processor 132 encodes the video data, it is specifically used for:The video data after picture frame to abandoning preset kind
It is encoded.The picture frame of the preset kind includes at least one kind in bi-directional predictive coding frame and forward-predictive-coded frames.
In some embodiments, processor 132 is additionally operable to:Each frame image in the video data is divided into multiple
Piece member;When processor 132 encodes the video data, it is specifically used for:Each frame image in the video data is drawn
The piece member got is encoded;When processor 132 sends the video data after encoding to streaming media server, it is specifically used for:
Piece member after sending from each coding to streaming media server.
The concrete principle and realization method of terminal device provided in an embodiment of the present invention are similar with embodiment illustrated in fig. 14,
Details are not described herein again.
The embodiment of the present invention provides a kind of streaming media server.As shown in figure 16, streaming media server 17 includes:Communication connects
Mouth 171 and processor 172;Communication interface 171 is used for the encoded video data that receiving terminal apparatus is sent, the encoded video number
According to being that the video data of the capture apparatus shooting carried to unmanned vehicle is encoded;Processor 172 is used for:To institute
Encoded video data is stated to be decoded to obtain the video data;Abandon the picture frame of the preset kind in the video data;
The video data after picture frame to abandoning preset kind encodes;Video data after sending from coding to remote equipment.
The picture frame of the preset kind includes at least one kind in bi-directional predictive coding frame and forward-predictive-coded frames.Place
After reason device 172 abandons the picture frame of the preset kind in the video data, it is additionally operable to:The picture frame of preset kind will be abandoned
Each frame image in video data afterwards is divided into multiple members;After picture frame of the processor 172 to abandoning preset kind
When video data is encoded, it is specifically used for:The piece member that each frame image divides in the video data is encoded;
When processor 172 sends the video data after encoding to remote equipment, it is specifically used for:After each coding being sent to remote equipment
Piece member.
In other embodiments, before the processor is decoded the encoded video data, the coding regards
Frequency is according to the caching without buffer;Or before the processor sends the video data after coding to remote equipment,
Video data after the coding is without buffer.The buffer is the buffer inside the processor.Alternatively,
The buffer is the buffer outside the processor.
The concrete principle and realization method of streaming media server provided in an embodiment of the present invention are and embodiment illustrated in fig. 15
Similar, details are not described herein again.
The embodiment of the present invention provides a kind of streaming media server.As shown in figure 16, streaming media server 17 includes:Communication connects
Mouth 171 and processor 172;Communication interface 171 is used for the encoded video data that receiving terminal apparatus is sent, the encoded video number
According to being that the video data of the capture apparatus shooting carried to unmanned vehicle is encoded;Processor 172 is used for:To institute
Encoded video data is stated to be decoded to obtain the video data;The video data is encoded;And it is sent out to remote equipment
Send the video data after coding;Wherein, before the processor is decoded the encoded video data, the coding regards
Frequency is according to the caching without buffer;Or before the processor sends the video data after coding to remote equipment,
Video data after the coding is without buffer.
Optionally, the buffer is the buffer inside the processor.Alternatively, the buffer is the processor
External buffer.
In other embodiments, processor 172 is additionally operable to:Abandon the picture frame of the preset kind in the video data;
When processor 172 encodes the video data, it is specifically used for:The video data after picture frame to abandoning preset kind
It is encoded.The picture frame of the preset kind includes at least one kind in bi-directional predictive coding frame and forward-predictive-coded frames.
In some embodiments, processor 172 is additionally operable to:Each frame image in the video data is divided into multiple
Piece member;When processor 172 encodes the video data, it is specifically used for:Each frame image in the video data is drawn
The piece member got is encoded;Processor 172 send the coding to remote equipment after video data when, be specifically used for:
Piece member after sending from each coding to remote equipment.
The concrete principle and realization method of streaming media server provided in an embodiment of the present invention are and embodiment illustrated in fig. 17
Similar, details are not described herein again.
The embodiment of the present invention provides a kind of Video transmission system.Such as Figure 13 or Figure 16, Video transmission system includes:Nobody flies
Row device 11, remote control equipment 12, terminal device 13, streaming media server 17.Unmanned vehicle 11, remote control equipment 12, terminal device
13, the concrete principle of streaming media server 17 and realization method are similar to the above embodiments, and details are not described herein again.
In several embodiments provided by the present invention, it should be understood that disclosed device and method can pass through it
Its mode is realized.For example, the apparatus embodiments described above are merely exemplary, for example, the division of the unit, only
Only a kind of division of logic function, formula that in actual implementation, there may be another division manner, such as multiple units or component can be tied
Another system is closed or is desirably integrated into, or some features can be ignored or not executed.Another point, it is shown or discussed
Mutual coupling, direct-coupling or communication connection can be the INDIRECT COUPLING or logical by some interfaces, device or unit
Letter connection can be electrical, machinery or other forms.
The unit illustrated as separating component may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, you can be located at a place, or may be distributed over multiple
In network element.Some or all of unit therein can be selected according to the actual needs to realize the mesh of this embodiment scheme
's.
In addition, each functional unit in each embodiment of the present invention can be integrated in a processing unit, it can also
It is that each unit physically exists alone, it can also be during two or more units be integrated in one unit.Above-mentioned integrated list
The form that hardware had both may be used in member is realized, can also be realized in the form of hardware adds SFU software functional unit.
The above-mentioned integrated unit being realized in the form of SFU software functional unit can be stored in one and computer-readable deposit
In storage media.Above-mentioned SFU software functional unit is stored in a storage medium, including some instructions are used so that a computer
It is each that equipment (can be personal computer, server or the network equipment etc.) or processor (processor) execute the present invention
The part steps of embodiment the method.And storage medium above-mentioned includes:USB flash disk, mobile hard disk, read-only memory (Read-
Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic disc or CD etc. it is various
The medium of program code can be stored.
Those skilled in the art can be understood that, for convenience and simplicity of description, only with above-mentioned each function module
Division progress for example, in practical application, can be complete by different function modules by above-mentioned function distribution as needed
At the internal structure of device being divided into different function modules, to complete all or part of the functions described above.On
The specific work process for stating the device of description, can refer to corresponding processes in the foregoing method embodiment, and details are not described herein.
Finally it should be noted that:The above embodiments are only used to illustrate the technical solution of the present invention., rather than its limitations;To the greatest extent
Present invention has been described in detail with reference to the aforementioned embodiments for pipe, it will be understood by those of ordinary skill in the art that:Its according to
So can with technical scheme described in the above embodiments is modified, either to which part or all technical features into
Row equivalent replacement;And these modifications or replacements, various embodiments of the present invention technology that it does not separate the essence of the corresponding technical solution
The range of scheme.
Claims (77)
1. a kind of method of transmission of video is applied to unmanned vehicle, which is characterized in that including:
Video data is obtained by the capture apparatus that unmanned vehicle carries;
The picture frame of the preset kind in the video data is abandoned by processor;
The video data after picture frame by processor to abandoning preset kind encodes;
Video data after sending coding to remote control equipment by communication interface.
2. according to the method described in claim 1, it is characterized in that,
The picture frame of the preset kind includes at least one kind in bi-directional predictive coding frame and forward-predictive-coded frames.
3. method according to claim 1 or 2, which is characterized in that
After the picture frame of the preset kind in abandoning the video data by processor, the method further includes:Pass through
Each frame image in video data after the picture frame for abandoning preset kind is divided into multiple members by the processor;
Video data after the picture frame by processor to abandoning preset kind carries out coding and includes:
The piece member that each frame image divides in the video data is encoded by the processor;
It is described the coding is sent to remote control equipment by communication interface after video data include:
Piece member after sending each coding to remote control equipment by the communication interface.
4. according to claim 1-3 any one of them methods, which is characterized in that the method further includes:
Before the picture frame of the preset kind in abandoning the video data by processor, the video data is without too slow
Rush the caching of device;Or
Before the video data after sending the coding to remote control equipment by communication interface, the video data after the coding
Without buffer.
5. according to the method described in claim 4, it is characterized in that,
The buffer is the buffer inside the processor.
6. according to the method described in claim 4, it is characterized in that,
The buffer is the buffer outside the processor.
7. a kind of method of transmission of video is applied to unmanned vehicle, which is characterized in that including:
Video data is obtained by the capture apparatus that unmanned vehicle carries;
The video data is encoded by processor;
Video data after sending coding to remote control equipment by communication interface;
Wherein, before being encoded to the video data by processor, the video data is without the slow of buffer
It deposits;Or
Before the video data after sending the coding to remote control equipment by communication interface, the video data after the coding
Without buffer.
8. the method according to the description of claim 7 is characterized in that
The buffer is the buffer inside the processor.
9. the method according to the description of claim 7 is characterized in that
The buffer is the buffer outside the processor.
10. according to claim 7-9 any one of them methods, which is characterized in that the method further includes:
The picture frame of the preset kind in the video data is abandoned by processor;
It is described by processor to the video data carry out coding include:
The video data after picture frame by processor to abandoning preset kind encodes.
11. according to the method described in claim 10, it is characterized in that,
The picture frame of the preset kind includes at least one kind in bi-directional predictive coding frame and forward-predictive-coded frames.
12. according to claim 7-11 any one of them methods, which is characterized in that the method further includes:
Each frame image in the video data is divided into multiple members by processor;
It is described by processor to the video data carry out coding include:
The piece member that each frame image divides in the video data is encoded by processor;
It is described to include to the video data after remote control equipment transmission coding by communication interface:
Piece member after sending each coding to remote control equipment by communication interface.
13. a kind of method of transmission of video is applied to remote control equipment, which is characterized in that including:
The video data after the coding that unmanned vehicle is sent is received by communication interface;
The video data after the coding is sent to terminal device by processor;
Wherein, after the video data after receiving the coding that unmanned vehicle is sent by communication interface, the video data
Without the caching of buffer;Or
Before the video data after the coding is sent to terminal device by the processor, the video data without
Cross the caching of buffer.
14. according to the method for claim 13, which is characterized in that the buffer is the buffering inside the processor
Device;Alternatively,
The buffer is the buffer outside the processor.
15. a kind of method of transmission of video is applied to the terminal device being connect with remote control equipment, which is characterized in that including:
The encoded video data that remote control equipment is sent is received by communication interface, the encoded video data is to unmanned vehicle
What the video data of the capture apparatus shooting of carrying was encoded;
The encoded video data is decoded by processor to obtain the video data;
The picture frame of the preset kind in the video data is abandoned by processor;
The video data after picture frame by processor to abandoning preset kind encodes;
Video data after sending coding to streaming media server by processor.
16. according to the method for claim 15, which is characterized in that
The picture frame of the preset kind includes at least one kind in bi-directional predictive coding frame and forward-predictive-coded frames.
17. method according to claim 15 or 16, which is characterized in that in abandoning the video data by processor
Preset kind picture frame after, the method further includes:
Each frame image in the video data after the picture frame for abandoning preset kind is divided by the processor multiple
Piece member;
Video data after the picture frame by processor to abandoning preset kind carries out coding and includes:
The piece member that each frame image divides in the video data is encoded by the processor;
It is described to include to the video data after streaming media server transmission coding by processor:
Piece member after sending each coding to streaming media server by the processor.
18. according to claim 15-17 any one of them methods, which is characterized in that regarded to the coding by processor
Frequency according to before being decoded, the encoded video data without buffer caching;Or
Before sending the video data after coding to streaming media server by processor, the video data after the coding is not
By buffer.
19. according to the method for claim 18, which is characterized in that
The buffer is the buffer inside the processor.
20. according to the method for claim 18, which is characterized in that
The buffer is the buffer outside the processor.
21. a kind of method of transmission of video is applied to the terminal device being connect with remote control equipment, which is characterized in that including:
The encoded video data that remote control equipment is sent is received by communication interface, the encoded video data is to unmanned vehicle
What the video data of the capture apparatus shooting of carrying was encoded;
The encoded video data is decoded by processor to obtain the video data;
The video data is encoded by processor;
Video data after sending coding to streaming media server by processor;
Wherein, before being decoded to the encoded video data by processor, the encoded video data is without too slow
Rush the caching of device;Or
Before sending the video data after coding to streaming media server by processor, the video data after the coding is not
By buffer.
22. according to the method for claim 21, which is characterized in that
The buffer is the buffer inside the processor.
23. according to the method for claim 21, which is characterized in that
The buffer is the buffer outside the processor.
24. according to claim 21-23 any one of them methods, which is characterized in that the method further includes:
The picture frame of the preset kind in the video data is abandoned by processor;
It is described by processor to the video data carry out coding include:
The video data after picture frame by processor to abandoning preset kind encodes.
25. according to the method for claim 24, which is characterized in that
The picture frame of the preset kind includes at least one kind in bi-directional predictive coding frame and forward-predictive-coded frames.
26. according to claim 21-25 any one of them methods, which is characterized in that the method further includes:
Each frame image in the video data is divided into multiple members by processor;
It is described by processor to the video data carry out coding include:
The piece member that each frame image divides in the video data is encoded by processor;
It is described to include to the video data after streaming media server transmission coding by processor:
Piece member after sending each coding to streaming media server by processor.
27. a kind of method of transmission of video is applied to streaming media server, which is characterized in that including:
The encoded video data sent by communication interface receiving terminal apparatus, the encoded video data are to unmanned vehicle
What the video data of the capture apparatus shooting of carrying was encoded;
The encoded video data is decoded by processor to obtain the video data;
The picture frame of the preset kind in the video data is abandoned by processor;
The video data after picture frame by processor to abandoning preset kind encodes;
Video data after sending coding to remote equipment by processor.
28. according to the method for claim 27, which is characterized in that
The picture frame of the preset kind includes at least one kind in bi-directional predictive coding frame and forward-predictive-coded frames.
29. the method according to claim 27 or 28, which is characterized in that in abandoning the video data by processor
Preset kind picture frame after, the method further includes:
Each frame image in the video data after the picture frame for abandoning preset kind is divided by the processor multiple
Piece member;
Video data after the picture frame by processor to abandoning preset kind carries out coding and includes:
The piece member that each frame image divides in the video data is encoded by the processor;
It is described to include to the video data after remote equipment transmission coding by processor:
Piece member after sending each coding to remote equipment by the processor.
30. according to claim 27-29 any one of them methods, which is characterized in that regarded to the coding by processor
Frequency according to before being decoded, the encoded video data without buffer caching;Or
Before sending the video data after coding to remote equipment by processor, video data after the coding without
Buffer.
31. according to the method for claim 30, which is characterized in that the buffer is the buffering inside the processor
Device.
32. according to the method for claim 30, which is characterized in that the buffer is the buffering outside the processor
Device.
33. a kind of method of transmission of video is applied to streaming media server, which is characterized in that including:
The encoded video data sent by communication interface receiving terminal apparatus, the encoded video data are to unmanned vehicle
What the video data of the capture apparatus shooting of carrying was encoded;
The encoded video data is decoded by processor to obtain the video data;
The video data is encoded by processor;
Video data after sending coding to remote equipment by processor;
Wherein, before being decoded to the encoded video data by processor, the encoded video data is without too slow
Rush the caching of device;Or
Before sending the video data after coding to remote equipment by processor, video data after the coding without
Buffer.
34. according to the method for claim 33, which is characterized in that
The buffer is the buffer inside the processor.
35. according to the method for claim 33, which is characterized in that
The buffer is the buffer outside the processor.
36. according to claim 33-35 any one of them methods, which is characterized in that the method further includes:
The picture frame of the preset kind in the video data is abandoned by processor;
It is described by processor to the video data carry out coding include:
The video data after picture frame by processor to abandoning preset kind encodes.
37. according to the method for claim 36, which is characterized in that the picture frame of the preset kind includes at least Two-way
Survey one kind in coded frame and forward-predictive-coded frames.
38. according to claim 33-37 any one of them methods, which is characterized in that the method further includes:
Each frame image in the video data is divided into multiple members by processor;
It is described by processor to the video data carry out coding include:
The piece member that each frame image divides in the video data is encoded by processor;
It is described to include to the video data after remote equipment transmission coding by processor:
Piece member after sending each coding to remote equipment by processor.
39. a kind of unmanned vehicle, which is characterized in that including:
Capture apparatus, for obtaining video data;
Processor, the picture frame for abandoning the preset kind in the video data;And
The video data after picture frame to abandoning preset kind encodes;
Communication interface, for the video data after sending coding to remote control equipment.
40. unmanned vehicle according to claim 39, which is characterized in that
The picture frame of the preset kind includes at least one kind in bi-directional predictive coding frame and forward-predictive-coded frames.
41. the unmanned vehicle according to claim 39 or 40, which is characterized in that the processor abandons the video counts
After the picture frame of preset kind in, it is additionally operable to:
Each frame image in video data after the picture frame for abandoning preset kind is divided into multiple members;
When video data after picture frame of the processor to abandoning preset kind encodes, it is specifically used for:
The piece member that each frame image divides in the video data is encoded;
The communication interface send the coding to remote control equipment after video data when, be specifically used for:
Piece member after sending from each coding to remote control equipment.
42. according to claim 39-41 any one of them unmanned vehicles, which is characterized in that
Before the picture frame of the preset kind during the processor abandons the video data, the video data is without too slow
Rush the caching of device;Or
Before the communication interface sends the video data after the coding to remote control equipment, the video data after the coding
Without buffer.
43. unmanned vehicle according to claim 42, which is characterized in that
The buffer is the buffer inside the processor.
44. unmanned vehicle according to claim 42, which is characterized in that
The buffer is the buffer outside the processor.
45. a kind of unmanned vehicle, which is characterized in that including:
Capture apparatus, for obtaining video data;
Processor, for being encoded to the video data;
Communication interface, for the video data after sending coding to remote control equipment;
Wherein, before the processor encodes the video data, the video data is without the slow of buffer
It deposits;Or
Before the communication interface sends the video data after the coding to remote control equipment, the video data after the coding
Without buffer.
46. unmanned vehicle according to claim 45, which is characterized in that
The buffer is the buffer inside the processor.
47. unmanned vehicle according to claim 45, which is characterized in that
The buffer is the buffer outside the processor.
48. according to claim 45-47 any one of them unmanned vehicles, which is characterized in that the processor is additionally operable to:
Abandon the picture frame of the preset kind in the video data;
When the processor encodes the video data, it is specifically used for:
The video data after picture frame to abandoning preset kind encodes.
49. unmanned vehicle according to claim 48, which is characterized in that
The picture frame of the preset kind includes at least one kind in bi-directional predictive coding frame and forward-predictive-coded frames.
50. according to claim 45-49 any one of them unmanned vehicles, which is characterized in that the processor is additionally operable to:
Each frame image in the video data is divided into multiple members;
When the processor encodes the video data, it is specifically used for:
The piece member that each frame image divides in the video data is encoded;
When the communication interface sends the video data after encoding to remote control equipment, it is specifically used for:
Piece member after sending from each coding to remote control equipment.
51. a kind of remote control equipment, which is characterized in that including:
Communication interface, the video data after coding for receiving unmanned vehicle transmission;
Processor, for the video data after the coding to be sent to terminal device;
Wherein, after the video data after the coding that the communication interface reception unmanned vehicle is sent, the video data is not
By the caching of buffer;Or
Before video data after the coding is sent to terminal device by the processor, the video data is without buffering
The caching of device.
52. remote control equipment according to claim 51, which is characterized in that the buffer is slow inside the processor
Rush device;Alternatively,
The buffer is the buffer outside the processor.
53. a kind of terminal device, which is characterized in that including:Communication interface and processor;
The communication interface is used to receive the encoded video data of remote control equipment transmission, and the encoded video data is flown to nobody
What the video data for the capture apparatus shooting that row device carries was encoded;
The processor is used for:
The encoded video data is decoded to obtain the video data;
Abandon the picture frame of the preset kind in the video data;
The video data after picture frame to abandoning preset kind encodes;
Video data after sending from coding to streaming media server.
54. terminal device according to claim 53, which is characterized in that
The picture frame of the preset kind includes at least one kind in bi-directional predictive coding frame and forward-predictive-coded frames.
55. the terminal device according to claim 53 or 54, which is characterized in that the processor abandons the video data
In preset kind picture frame after, be additionally operable to:
Each frame image in video data after the picture frame for abandoning preset kind is divided into multiple members;
When video data after picture frame of the processor to abandoning preset kind encodes, it is specifically used for:
The piece member that each frame image divides in the video data is encoded;
When the processor sends the video data after encoding to streaming media server, it is specifically used for:
Piece member after sending from each coding to streaming media server.
56. according to claim 53-55 any one of them terminal devices, which is characterized in that
Before the processor is decoded the encoded video data, the encoded video data is without buffer
Caching;Or
Before the processor sends the video data after coding to streaming media server, the video data after the coding is not
By buffer.
57. terminal device according to claim 56, which is characterized in that
The buffer is the buffer inside the processor.
58. terminal device according to claim 56, which is characterized in that
The buffer is the buffer outside the processor.
59. a kind of terminal device, which is characterized in that including:Communication interface, processor;
The communication interface is used to receive the encoded video data of remote control equipment transmission, and the encoded video data is flown to nobody
What the video data for the capture apparatus shooting that row device carries was encoded;
The processor is used for:
The encoded video data is decoded to obtain the video data;
The video data is encoded;And
Video data after sending from coding to streaming media server;
Wherein, before the processor is decoded the encoded video data, the encoded video data is without too slow
Rush the caching of device;Or
Before the processor sends the video data after the coding to streaming media server, the video counts after the coding
According to without buffer.
60. terminal device according to claim 59, which is characterized in that
The buffer is the buffer inside the processor.
61. terminal device according to claim 59, which is characterized in that
The buffer is the buffer outside the processor.
62. according to claim 59-61 any one of them terminal devices, which is characterized in that the processor is additionally operable to:
Abandon the picture frame of the preset kind in the video data;
When the processor encodes the video data, it is specifically used for:
The video data after picture frame to abandoning preset kind encodes.
63. terminal device according to claim 62, which is characterized in that
The picture frame of the preset kind includes at least one kind in bi-directional predictive coding frame and forward-predictive-coded frames.
64. according to claim 59-63 any one of them terminal devices, which is characterized in that the processor is additionally operable to:
Each frame image in the video data is divided into multiple members;
When the processor encodes the video data, it is specifically used for:
The piece member that each frame image divides in the video data is encoded;
When the processor sends the video data after encoding to streaming media server, it is specifically used for:
Piece member after sending from each coding to streaming media server.
65. a kind of streaming media server, which is characterized in that including:Communication interface and processor;
The communication interface is used for the encoded video data that receiving terminal apparatus is sent, and the encoded video data is flown to nobody
What the video data for the capture apparatus shooting that row device carries was encoded;
The processor is used for:
The encoded video data is decoded to obtain the video data;
Abandon the picture frame of the preset kind in the video data;
The video data after picture frame to abandoning preset kind encodes;
Video data after sending from coding to remote equipment.
66. streaming media server according to claim 65, which is characterized in that
The picture frame of the preset kind includes at least one kind in bi-directional predictive coding frame and forward-predictive-coded frames.
67. the streaming media server according to claim 65 or 66, which is characterized in that the processor abandons the video
After the picture frame of preset kind in data, it is additionally operable to:
Each frame image in video data after the picture frame for abandoning preset kind is divided into multiple members;
When video data after picture frame of the processor to abandoning preset kind encodes, it is specifically used for:
The piece member that each frame image divides in the video data is encoded;
When the processor sends the video data after encoding to remote equipment, it is specifically used for:
Piece member after sending from each coding to remote equipment.
68. according to claim 65-67 any one of them streaming media servers, which is characterized in that
Before the processor is decoded the encoded video data, the encoded video data is without buffer
Caching;Or
Before the processor sends the video data after coding to remote equipment, video data after the coding without
Buffer.
69. streaming media server according to claim 68, which is characterized in that the buffer is inside the processor
Buffer.
70. streaming media server according to claim 68, which is characterized in that the buffer is outside the processor
Buffer.
71. a kind of streaming media server, which is characterized in that including:Communication interface, processor;
The communication interface is used for the encoded video data that receiving terminal apparatus is sent, and the encoded video data is flown to nobody
What the video data for the capture apparatus shooting that row device carries was encoded;
The processor is used for:
The encoded video data is decoded to obtain the video data;
The video data is encoded;And
Video data after sending from coding to remote equipment;
Wherein, before the processor is decoded the encoded video data, the encoded video data is without too slow
Rush the caching of device;Or
Before the processor sends the video data after coding to remote equipment, video data after the coding without
Buffer.
72. streaming media server according to claim 71, which is characterized in that
The buffer is the buffer inside the processor.
73. streaming media server according to claim 71, which is characterized in that
The buffer is the buffer outside the processor.
74. according to claim 71-73 any one of them streaming media servers, which is characterized in that the processor is additionally operable to:
Abandon the picture frame of the preset kind in the video data;
When the processor encodes the video data, it is specifically used for:
The video data after picture frame to abandoning preset kind encodes.
75. streaming media server according to claim 74, which is characterized in that the picture frame of the preset kind at least wraps
Include one kind in bi-directional predictive coding frame and forward-predictive-coded frames.
76. according to claim 71-75 any one of them streaming media servers, which is characterized in that the processor is additionally operable to:
Each frame image in the video data is divided into multiple members;
When the processor encodes the video data, it is specifically used for:
The piece member that each frame image divides in the video data is encoded;
The processor send the coding to remote equipment after video data when, be specifically used for:
Piece member after sending from each coding to remote equipment.
77. a kind of Video transmission system, which is characterized in that including:
Such as claim 39-50 any one of them unmanned vehicles;
Remote control equipment as described in claim 51 or 52;
Such as the terminal device of any one of claim 53-64;
Such as the streaming media server of any one of claim 65-76.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2017/094845 WO2019019128A1 (en) | 2017-07-28 | 2017-07-28 | Video transmission method, device, and system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108702511A true CN108702511A (en) | 2018-10-23 |
Family
ID=63844173
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201780012819.1A Pending CN108702511A (en) | 2017-07-28 | 2017-07-28 | Method, equipment and the system of transmission of video |
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| WO (1) | WO2019019128A1 (en) |
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