CN113747087A - Remote driving low-delay image transmission method and device, computer equipment and medium - Google Patents
Remote driving low-delay image transmission method and device, computer equipment and medium Download PDFInfo
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- CN113747087A CN113747087A CN202111059704.2A CN202111059704A CN113747087A CN 113747087 A CN113747087 A CN 113747087A CN 202111059704 A CN202111059704 A CN 202111059704A CN 113747087 A CN113747087 A CN 113747087A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N5/00—Details of television systems
- H04N5/222—Studio circuitry; Studio devices; Studio equipment
- H04N5/262—Studio circuits, e.g. for mixing, switching-over, change of character of image, other special effects ; Cameras specially adapted for the electronic generation of special effects
- H04N5/268—Signal distribution or switching
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L65/00—Network arrangements, protocols or services for supporting real-time applications in data packet communication
- H04L65/60—Network streaming of media packets
- H04L65/65—Network streaming protocols, e.g. real-time transport protocol [RTP] or real-time control protocol [RTCP]
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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
- H04N19/134—Methods or arrangements for coding, decoding, compressing or decompressing digital video signals using adaptive coding characterised by the element, parameter or criterion affecting or controlling the adaptive coding
- H04N19/146—Data rate or code amount at the encoder output
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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
- H04N19/42—Methods or arrangements for coding, decoding, compressing or decompressing digital video signals characterised by implementation details or hardware specially adapted for video compression or decompression, e.g. dedicated software implementation
- H04N19/423—Methods or arrangements for coding, decoding, compressing or decompressing digital video signals characterised by implementation details or hardware specially adapted for video compression or decompression, e.g. dedicated software implementation characterised by memory arrangements
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N5/00—Details of television systems
- H04N5/76—Television signal recording
- H04N5/907—Television signal recording using static stores, e.g. storage tubes or semiconductor memories
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Abstract
The method, the device, the computer equipment and the medium for transmitting the remote driving low-delay image are characterized in that firstly, collected optical signals are converted into electric signals through analog-to-digital conversion to obtain original images; extracting an original image, compressing and encoding the original image to obtain image encoded data, and storing the image encoded data to a specified memory address, wherein an interrupt signal is generated after each original image with a certain frame number is encoded to inform a bottom layer driver; after receiving the interrupt, the bottom layer driver extracts the image coding data from the corresponding memory address to perform RTP packet packaging, adds an RTP data header to each packet, and then directly forwards the packet to a transmitting buffer area through a network driver; and transmitting the image coded data of the transmission buffer one by one under the control of Linux drive. The bottom driver of the invention directly undertakes RTP package and data sending work, thus memory copy is not needed between the kernel and the user space, and the data transmission delay generated on the software path is reduced.
Description
Technical Field
The invention belongs to the technical field of data processing, and particularly relates to a remote driving low-delay image transmission method and device, computer equipment and a medium.
Background
In the existing image data transmission, after the image is mostly received by the camera end, the image is packed into a network packet through the operating system, or a wireless packet is transmitted to the receiving end through the network or the wireless, and the receiving end plays the image after decoding. In this case, because the conversion of kernel-mode data into user-mode data in the system is involved, the process of taking out and converting picture information from the camera into a wireless packet or a network packet by the system is time-consuming, and in order to reduce the time consumed in this part, it is necessary to optimize the time consumed in this process, so as to reduce the delay of the whole video transmission link and improve the operability of remote video.
In the image transmission of the existing equipment, image data is conveyed to a memory through system driving, and a system accesses a corresponding memory address through memory mapping so as to take out specified data to be packaged and sent out.
Disclosure of Invention
In the prior art, image transmission is realized by carrying image data to a memory through system driving, and the system accesses a corresponding memory address through memory mapping so as to take out specified data, package and send out the specified data. In view of the above problems in the prior art, the present invention provides a method, an apparatus, a computer device and a medium for transmitting a low-latency image in remote driving. The method is suitable for reducing the delay of image transmission in a remote driving scene, and the condition of inconvenient operation caused by overlarge delay of remote control is relieved.
In order to achieve the technical purpose, the technical scheme adopted by the invention is as follows:
the remote driving low-delay image transmission method comprises the following steps:
the collected optical signals are converted into electric signals through analog-digital conversion to obtain original images;
extracting an original image, compressing and encoding the original image to obtain image encoded data, and storing the image encoded data to a specified memory address, wherein an interrupt notification bottom layer drive is generated after each encoding of a certain number of frames of the original image is completed;
after receiving the interrupt, the bottom layer driver extracts the image coding data from the corresponding memory address to perform RTP packet packaging, adds an RTP data header to each packet, and then directly forwards the packet to a transmitting buffer area through a network driver;
and transmitting the image coded data of the transmission buffer one by one under the control of Linux drive.
Further, the original image of the present invention is an original image with RGB color information.
Furthermore, in the invention, after each frame of original image is coded, an interrupt is generated to inform the underlying driver.
Further, the present invention provides a remote driving low-latency image transmission apparatus, comprising:
the image acquisition module is used for acquiring optical signals and converting the acquired optical signals into electric signals through analog-to-digital conversion to obtain original images;
the image processing module is used for extracting an original image, compressing and encoding the original image to obtain image encoded data, and storing the image encoded data to a specified memory address, wherein an interrupt notification bottom layer drive is generated after each encoding of a certain number of frames of the original image is completed;
the data control module extracts image coding data in a corresponding memory address to perform RTP sub-packaging after the bottom layer drive receives the interrupt, adds an RTP data head to each packet, and then directly forwards the packet to a transmitting buffer area through a network drive program;
and the data transmitting module is used for transmitting the image coding data of the transmitting buffer one by one under the control of the Linux drive.
Further, the image processing module is an FPGA image processing module.
Further, the image processing module adopts zynq7020 chip of saint to realize the compression of original images, and uses dual-core armportexa 9 to carry a linux system to realize the scheduling of data.
Further, the data control module employs an ARMportexA 9 processor.
The invention provides computer equipment, which comprises a memory and a processor, wherein the memory stores a computer program, and the processor is characterized in that the processor realizes the following steps when executing the computer program:
the collected optical signals are converted into electric signals through analog-digital conversion to obtain original images;
extracting an original image, compressing and encoding the original image to obtain image encoded data, and storing the image encoded data to a specified memory address, wherein an interrupt notification bottom layer drive is generated after each encoding of a certain number of frames of the original image is completed;
after receiving the interrupt, the bottom layer driver extracts the image coding data from the corresponding memory address to perform RTP packet packaging, adds an RTP data header to each packet, and then directly forwards the packet to a transmitting buffer area through a network driver;
and transmitting the image coded data of the transmission buffer one by one under the control of Linux drive.
The present invention provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of:
the collected optical signals are converted into electric signals through analog-digital conversion to obtain original images;
extracting an original image, compressing and encoding the original image to obtain image encoded data, and storing the image encoded data to a specified memory address, wherein an interrupt notification bottom layer drive is generated after each encoding of a certain number of frames of the original image is completed;
after receiving the interrupt, the bottom layer driver extracts the image coding data from the corresponding memory address to perform RTP packet packaging, adds an RTP data header to each packet, and then directly forwards the packet to a transmitting buffer area through a network driver;
and transmitting the image coded data of the transmission buffer one by one under the control of Linux drive.
The invention can achieve the following beneficial technical effects:
the invention is mainly used for reducing the time delay in video transmission, optical signals are converted into electric analog signals after being collected by a camera, then the electric analog signals are converted into RGB images to be stored in a memory, the RTP package of image data and the data transmission work are directly undertaken through a bottom layer drive, the image data are directly transmitted through a network port or wirelessly, and the time spent on switching between the system operation modes is greatly saved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.
FIG. 1 is a flow chart of an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of an embodiment of the present invention;
FIG. 3 is a flow chart of data processing according to an embodiment of the present invention.
The objects, features and advantages of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
In remote driving, the key factor for realizing smooth interaction is the total delay time from a video sending end to a video receiving end, including video processing time (converting optical signals into electric signals); the transmitting end fills in the delay of frame buffering; a compression time; software delays caused by sending data packets; wireless transmit-receive delay; software delays caused by receiving data packets; video decoding time. In the traditional image transmission scheme, the time delay from the video transmitting end to the video receiving end is mainly concentrated on the time delay from the memory of the image coding data of the transmitting end to the wireless transmitting end.
Referring to fig. 1, an embodiment of the present invention provides a remote driving low latency image transmission method, including:
s1, collecting optical signals, and converting the collected optical signals into electric signals through analog-to-digital conversion to obtain an original image with RGB color information;
s2, extracting the original image, compressing and encoding to obtain image encoding data, and storing the image encoding data to a specified memory address, wherein an interrupt notification bottom layer drive is generated after each frame of original image is encoded;
s3, after receiving the interrupt, the bottom layer driver extracts the image coding data from the corresponding memory address to perform RTP sub-packet, adds RTP data head to each packet, and then directly forwards the packet to the transmission buffer area through the network driver;
and S4, transmitting the image coded data of the transmission buffer one by one under the drive control of Linux.
Referring to fig. 2, the present invention provides a remote driving low-latency image transmission apparatus, applied to a transmitting end, including:
and the image acquisition module is used for acquiring optical signals and converting the acquired optical signals into electric signals through analog-to-digital conversion to obtain original images. And storing the original image to a corresponding memory address.
The image processing module is used for extracting an original image, compressing and encoding the original image to obtain image encoded data, and storing the image encoded data to a specified memory address, wherein an interrupt notification bottom layer drive is generated after each encoding of a certain number of frames of the original image is completed;
the data control module extracts image coding data in a corresponding memory address to perform RTP sub-packaging after the bottom layer drive receives the interrupt, adds an RTP data head to each packet, and then directly forwards the packet to a transmitting buffer area through a network drive program;
and the data transmitting module is used for transmitting the image coding data of the transmitting buffer one by one under the control of the Linux drive.
The image acquisition module adopts the existing photoelectric converter module to convert light rays into electric charges and convert the electric charges into electric signals through the analog-to-digital converter chip.
The image processing module is an FPGA image processing module. In order to have enough logic array blocks to process the image coding function, the invention adopts Zynq7020 chip of sailing and uses dual-core ARMportexA 9 to carry a linux system to realize the scheduling of data. The h264 coding uses A2e technologies low-latency encoder, and the latency is less than 500 microseconds for a 1080p30 video stream.
The data control module is an ARM data control module, specifically is a cortexA9ARM processor, and the cortexA9ARM processor is responsible for the coordination work of all the constituent modules. By modifying the linux kernel, the bottom layer driver directly bears the RTP package of the image coding data and the data sending work, and the upper layer system is only responsible for the interaction of the control information of the RTCP, so that the time from the system kernel to the system for copying a large amount of data is greatly reduced.
Because Linux is a non-real-time system, in order to reduce the delay generated by the system to the maximum extent, a low-delay custom RTSP transport protocol needs to be created, wherein the RTCP protocol is partially realized by Linux user layer software and is consistent with the existing standard. The RTSP RTP data sending part is realized by a bottom layer drive instead, after the image coding data is stored in the DDR, the image coding data is extracted from the corresponding memory address through the bottom layer drive to carry out RTP sub-packaging, and an RTP data head is added to each packet, and then the image coding data is directly forwarded to a transmitting buffer area through a network drive program. The data transmitting module is a wireless transmitting module. The wireless transmitting module transmits the image coding data of the transmitting buffer one by one according to a certain transmitting frequency under the control of the Linux drive. The invention does not need to carry out memory copy between the kernel and the user space. Thereby reducing the data transmission delay generated on the software path.
Referring to fig. 3, which is a data processing flow chart according to an embodiment of the present invention, first, an optical signal is input, and the acquired optical signal is analog-to-digital converted into an electrical signal to obtain an original image with RGB color information; and when the acquisition of the current frame of original image is finished, extracting the current frame of original image, compressing and encoding to obtain image encoding data corresponding to the current frame of original image, and storing the image encoding data to a specified memory address. Wherein, after each frame of original image is coded, an interrupt is generated to inform the bottom layer drive; after receiving the interrupt, the bottom layer driver extracts the image coding data from the corresponding memory address to perform RTP packet packaging, adds an RTP data header to each packet, and then directly forwards the packet to a transmitting buffer area through a network driver; and finally, transmitting the image coding data of the sending buffer one by one under the control of a Linux drive.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. The remote driving low-delay image transmission method is characterized by comprising the following steps:
the collected optical signals are converted into electric signals through analog-digital conversion to obtain original images;
extracting an original image, compressing and encoding the original image to obtain image encoded data, and storing the image encoded data to a specified memory address, wherein an interrupt notification bottom layer drive is generated after each encoding of a certain number of frames of the original image is completed;
after receiving the interrupt, the bottom layer driver extracts the image coding data from the corresponding memory address to perform RTP packet packaging, adds an RTP data header to each packet, and then directly forwards the packet to a transmitting buffer area through a network driver;
and transmitting the image coded data of the transmission buffer one by one under the control of Linux drive.
2. The method of claim 1, wherein the raw image is a raw image with RGB color information.
3. The method of claim 1, wherein an interrupt notification is generated to the underlying driver after each frame of original image is encoded.
4. A remote-driving low-latency image transmission apparatus, comprising:
the image acquisition module is used for acquiring optical signals and converting the acquired optical signals into electric signals through analog-to-digital conversion to obtain original images;
the image processing module is used for extracting an original image, compressing and encoding the original image to obtain image encoded data, and storing the image encoded data to a specified memory address, wherein an interrupt notification bottom layer drive is generated after each encoding of a certain number of frames of the original image is completed;
the data control module extracts image coding data in a corresponding memory address to perform RTP sub-packaging after the bottom layer drive receives the interrupt, adds an RTP data head to each packet, and then directly forwards the packet to a transmitting buffer area through a network drive program;
and the data transmitting module is used for transmitting the image coding data of the transmitting buffer one by one under the control of the Linux drive.
5. The device of claim 4, wherein the image processing module generates an interrupt after each frame of original image is encoded, and sends an interrupt to notify the underlying driver when each frame of original image is encoded.
6. The remotely driven low latency image transfer device of claim 4, wherein the image processing module is an FPGA image processing module.
7. The remote driving low-latency image transmission device according to claim 3, wherein the image processing module adopts zynq7020 chip of Series to realize compression of original images, and uses dual-core ARMportexA 9 to carry a linux system to realize data scheduling.
8. The remote driving low latency image transmission device of claim 2, wherein the data control module employs an armportexa 9 processor.
9. A computer device comprising a memory and a processor, the memory storing a computer program, wherein the processor when executing the computer program implements the steps of the remote driving low latency image transmission method of claim 1.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the remote driving low latency image transmission method of claim 1.
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