CN113747087B - Remote driving low-delay image transmission method, device, computer equipment and medium - Google Patents
Remote driving low-delay image transmission method, device, computer equipment and medium Download PDFInfo
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- CN113747087B CN113747087B CN202111059704.2A CN202111059704A CN113747087B CN 113747087 B CN113747087 B CN 113747087B CN 202111059704 A CN202111059704 A CN 202111059704A CN 113747087 B CN113747087 B CN 113747087B
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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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- Multimedia (AREA)
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- Computer Networks & Wireless Communication (AREA)
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Abstract
The method comprises the steps of firstly, acquiring optical signals, performing analog-to-digital conversion on the optical signals to obtain an original image; extracting an original image, compressing and encoding to obtain image encoding data, and storing the image encoding data to a designated memory address, wherein an interrupt signal is generated after encoding the original image with a certain frame number every time 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 carry out RTP (real-time protocol) packetization, adds RTP data heads to each packet, and then directly forwards the RTP data heads to the transmitting buffer zone through the network driver; and transmitting the image coding data of the transmitting buffer area one by one under the control of Linux driving. The bottom layer driver directly bears the RTP package and the data sending work, so that memory copying between a kernel and a user space is not needed, and the data transmission delay generated on a software path is reduced.
Description
Technical Field
The application belongs to the technical field of data processing, and particularly relates to a remote driving low-delay image transmission method, a device, computer equipment and a medium.
Background
In the existing image data transmission, after an image is received by a camera, the image is packed into a network packet through an operating system, or a wireless packet is transmitted to a receiving end through a network or wirelessly, and the receiving end decodes and plays the picture. In this case, because the conversion from the kernel mode data to the user mode data in the system is involved, the process of taking out and converting the picture information from the camera into the wireless packet or the network packet by the system is very time-consuming, so that in order to reduce the time consumed by the part, it is necessary to optimize the time consumed by the processing, thereby reducing the delay of the whole video transmission link and improving the operability of the remote video.
The image transmission of the existing equipment is to drive and carry image data to a memory through a system, and the system accesses a corresponding memory address through memory mapping, so that the appointed data is taken out and packaged and sent out, but the method has higher delay, and is not beneficial to remote control and real-time performance.
Disclosure of Invention
In the prior art, the image transmission is to drive and carry the image data to the memory through the system, and the system accesses the corresponding memory address through the memory mapping, so that the appointed data is taken out and packaged and sent out. Aiming at the problems in the prior art, the application provides a remote driving low-delay image transmission method, a device, computer equipment and a medium. The method is suitable for reducing the time delay of image transmission in a remote driving scene and relieving the condition of inconvenient operation caused by overlarge time delay of remote control.
In order to achieve the technical purpose, the application adopts the following technical scheme:
the remote driving low-delay image transmission method comprises the following steps:
the collected optical signals are converted into electric signals through analog-to-digital conversion, and an original image is obtained;
extracting an original image, compressing and encoding to obtain image encoding data, and storing the image encoding data to a designated memory address, wherein after the original image with a certain frame number is encoded, an interrupt notification bottom layer drive is generated;
after receiving the interrupt, the bottom layer driver extracts the image coding data from the corresponding memory address to carry out RTP (real-time protocol) packetization, adds RTP data heads to each packet, and then directly forwards the RTP data heads to the transmitting buffer zone through the network driver;
and transmitting the image coding data of the transmitting buffer area one by one under the control of Linux driving.
Further, the original image is provided with RGB color information.
Further, in the present application, an interrupt notification is generated to notify the bottom driver after each frame of original image is encoded.
Further, the present application provides a remote driving low-delay image transmission device, 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 to obtain image encoding data, and storing the image encoding data to a designated memory address, wherein an interrupt notification bottom layer drive is generated after the original image with a certain frame number is encoded;
the data control module extracts image coding data from the corresponding memory address to carry out RTP packetization after the bottom layer drive receives the interrupt, adds RTP data heads to each packet, and then directly forwards the RTP data to the transmitting buffer zone through the network drive program;
and the data transmitting module is used for transmitting the image coding data of the transmitting buffer area one by one under the control of Linux driving.
Further, the image processing module is an FPGA image processing module.
Further, the image processing module adopts a zynq7020 chip of the sirolimus to compress an original image, and a dual-core ARMcotex A9 is used for carrying a linux system to realize data scheduling.
Further, the data control module adopts an ARMcotex A9 processor.
The application provides a computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor when executing the computer program realizes the following steps:
the collected optical signals are converted into electric signals through analog-to-digital conversion, and an original image is obtained;
extracting an original image, compressing and encoding to obtain image encoding data, and storing the image encoding data to a designated memory address, wherein after the original image with a certain frame number is encoded, an interrupt notification bottom layer drive is generated;
after receiving the interrupt, the bottom layer driver extracts the image coding data from the corresponding memory address to carry out RTP (real-time protocol) packetization, adds RTP data heads to each packet, and then directly forwards the RTP data heads to the transmitting buffer zone through the network driver;
and transmitting the image coding data of the transmitting buffer area one by one under the control of Linux driving.
The present application 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-to-digital conversion, and an original image is obtained;
extracting an original image, compressing and encoding to obtain image encoding data, and storing the image encoding data to a designated memory address, wherein after the original image with a certain frame number is encoded, an interrupt notification bottom layer drive is generated;
after receiving the interrupt, the bottom layer driver extracts the image coding data from the corresponding memory address to carry out RTP (real-time protocol) packetization, adds RTP data heads to each packet, and then directly forwards the RTP data heads to the transmitting buffer zone through the network driver;
and transmitting the image coding data of the transmitting buffer area one by one under the control of Linux driving.
The application has the beneficial technical effects that:
the application is mainly used for reducing the time delay in video transmission, the optical signals are changed 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, RTP (real-time protocol) package and data transmission work of image data are directly born through bottom layer driving, the image data are directly transmitted through a network port or wirelessly, and the time spent for switching back and forth between system operation modes is greatly saved.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are only some embodiments of the present application, and other drawings may be obtained according to the structures shown in these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of an embodiment of the present application;
FIG. 2 is a schematic diagram of an embodiment of the present application;
FIG. 3 is a flow chart of data processing according to an embodiment of the present application.
The achievement of the objects, functional features and advantages of the present application will be further described with reference to the accompanying drawings, in conjunction with the embodiments.
Detailed Description
The present application will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present application more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the application.
In remote driving, the key factor for realizing smooth interaction is the total delay time between a video sending end and a video receiving end, including video processing time (converting optical signals into electric signals); delay of filling frame buffer at transmitting end; compression time; software delay caused by transmitting data packets; a wireless transmit-receive delay; receiving a software delay caused by a data packet; video decoding time. In the traditional image transmission scheme, the time delay between the video transmitting end and the video receiving end is mainly concentrated on the time delay time between the memory and the wireless transmitting end of the image coding data of the transmitting end.
Referring to fig. 1, an embodiment of the present application provides a remote driving low-delay image transmission method, including:
s1, acquiring an optical signal, and converting the acquired optical signal into an electric signal through analog-digital conversion to obtain an original image with RGB color information;
s2, extracting an original image, compressing and encoding to obtain image encoding data, and storing the image encoding data to a designated memory address, wherein an interrupt notification bottom layer driver is generated after each encoding is completed for one frame of original image;
s3, after receiving the interrupt, the bottom layer driver extracts the image coding data from the corresponding memory address to carry out RTP (real-time protocol) subpackaging, adds RTP data heads to each packet, and then directly forwards the RTP data heads to the transmitting buffer zone through the network driver;
s4, the image coding data of the sending buffer areas are sent one by one under the control of Linux driving.
Referring to fig. 2, the present application provides a remote driving low-delay image transmission device, which is applied to a transmitting end, and includes:
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 original image is stored to the corresponding memory address.
The image processing module is used for extracting an original image, compressing and encoding to obtain image encoding data, and storing the image encoding data to a designated memory address, wherein an interrupt notification bottom layer drive is generated after the original image with a certain frame number is encoded;
the data control module extracts image coding data from the corresponding memory address to carry out RTP packetization after the bottom layer drive receives the interrupt, adds RTP data heads to each packet, and then directly forwards the RTP data to the transmitting buffer zone through the network drive program;
and the data transmitting module is used for transmitting the image coding data of the transmitting buffer area one by one under the control of Linux driving.
The image acquisition module selects the existing photoelectric converter module to convert light into electric charge, and converts the electric charge into an electric signal through the analog-to-digital converter chip.
The image processing module is an FPGA image processing module. In order to have enough logic array block processing image coding function, the application adopts a zynq7020 chip of the siren, and uses a dual-core ARMcotex A9 to carry a linux system to realize data scheduling. Where h264 encoding uses a low-latency encoder from A2e technologies company, the latency is less than 500 microseconds for 1080p30 video streams.
The data control module is an ARM data control module, in particular to a cortrexa 9ARM processor, and the cortrexa 9ARM 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 spent by the system kernel to a large number of data copies of the system is greatly reduced.
Because Linux is a non-real-time system, in order to reduce the delay of the system to the greatest extent, a low-delay custom RTSP transmission protocol needs to be created, wherein an RTCP protocol part is realized by Linux user layer software and keeps consistent with the existing standard. The RTP data transmitting part of RTSP is realized by the bottom drive, after the image coding data is stored in DDR, the image coding data is extracted in the corresponding memory address by the bottom drive to carry out RTP package, each package is added with RTP data head, and then the data is directly transmitted to the transmitting buffer zone through the 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 area one by one according to a certain transmitting frequency under the control of Linux driving. The application does not need to make memory copy between the kernel and the user space. Thereby reducing the data transmission delay generated on the software path.
Referring to fig. 3, in a data processing flow chart according to an embodiment of the present application, first, an optical signal is input, and the collected optical signal is converted into an electrical signal through analog-to-digital conversion, so as to obtain an original image with RGB color information; and when the acquisition of the original image of the current frame is completed, extracting the original image of the current frame, compressing and encoding to obtain image encoding data corresponding to the original image of the current frame, and storing the image encoding data into a designated memory address. Wherein, after each encoding is completed, 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 carry out RTP (real-time protocol) packetization, adds RTP data heads to each packet, and then directly forwards the RTP data heads to the transmitting buffer zone through the network driver; and finally, the image coding data of the sending buffer areas are sent out one by one under the control of Linux driving.
The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The above examples illustrate only a few embodiments of the application, which are described in detail and are not to be construed as limiting the scope of the application. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the application, which are all within the scope of the application. Accordingly, the scope of protection of the present application is to be determined by the appended claims.
Claims (10)
1. The remote driving low-delay image transmission method is characterized by comprising the following steps of:
the collected optical signals are converted into electric signals through analog-to-digital conversion, and an original image is obtained;
extracting an original image, compressing and encoding to obtain image encoding data, and storing the image encoding data to a designated memory address, wherein after the original image with a certain frame number is encoded, an interrupt notification bottom layer drive is generated;
after receiving the interrupt, the bottom layer driver extracts the image coding data from the corresponding memory address to carry out RTP (real-time protocol) packetization, adds RTP data heads to each packet, and then directly forwards the RTP data heads to the transmitting buffer zone through the network driver;
and transmitting the image coding data of the transmitting buffer area one by one under the control of Linux driving.
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 bottom driver after each frame of the original image is encoded.
4. A remote-driving low-delay image transmission device, 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 to obtain image encoding data, and storing the image encoding data to a designated memory address, wherein after the original image with a certain frame number is encoded, an interrupt notification bottom layer drive is generated;
the data control module extracts image coding data from the corresponding memory address to carry out RTP packetization after the bottom layer drive receives the interrupt, adds RTP data heads to each packet, and then directly forwards the RTP data to the transmitting buffer zone through the network drive program;
and the data transmitting module is used for transmitting the image coding data of the transmitting buffer area one by one under the control of Linux driving.
5. The remote-driven low-delay image transmission apparatus according to claim 4, wherein the image processing module generates an interrupt every time one frame of the original image is encoded, and transmits an interrupt notification to the bottom-layer driver when each frame of the original image is encoded.
6. The remote-driving low-delay image transmission device according to claim 4, wherein the image processing module is an FPGA image processing module.
7. The remote driving low-delay image transmission device according to claim 4, wherein the image processing module adopts a zynq7020 chip of the siren to compress an original image, and uses a dual-core ARMcore A9 to carry a linux system to realize data scheduling.
8. The remotely driven low latency image transmission device according to claim 4, wherein the data control module employs an armcotex a9 processor.
9. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor, when executing the computer program, implements the steps of the remote-driven low-latency image transmission method of claim 1.
10. A computer readable storage medium having stored thereon a computer program, characterized in that the computer program when executed by a processor realizes the steps of the remote driving low-delay image transmission method of claim 1.
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