WO2021081815A1 - Video transmission method and device, and computer-readable storage medium - Google Patents

Abstract

A video transmission method and device, and a computer-readable storage medium. The method comprises: determining a control station (2) to be accessed, and establishing a wireless connection with said control station (2) (101); sending a video access authentication request to said control station (2) (102); and when a received video access authentication response that is fed back by said control station (2) is a success response, sending collected video information to said control station (2), so that said control station (2) sends the video information to a background server (3) (103). By means of establishing a communication connection between an unmanned aerial vehicle (1), a control station (2) to be accessed, and a background server (3), data collected at a work site by the unmanned aerial vehicle can be quickly and conveniently transmitted to the background server. Thus, an operator can control the unmanned aerial vehicle by means of accessing the data in the background server that is collected by the unmanned aerial vehicle.

Description

Video transmission method, equipment and computer readable storage medium Technical field

The embodiments of the present invention relate to the field of communications, and in particular to a video transmission method, device, and computer-readable storage medium.

Background technique

During the application process of UAVs, UAVs are generally operated on-site. On-site operators control the UAVs by operating the ground control terminal that communicates with the UAVs point-to-point.

The working site of the drone is far away from the rear command center. In order to view the video information collected by the image acquisition device installed on the drone, the rear command center needs to output the video information to the preview through the HDMI/USB of the ground control terminal. Set the video capture device, and then the video capture device can send video information to the rear command center via Ethernet.

However, when the above method is used for video transmission, the video transmission is one-way transmission, and the rear command center can only see the video information, but cannot control the drone based on the video information. In addition, the above-mentioned video transmission method often requires multiple devices to be connected, and the on-site operation is complicated, which is not conducive to operation.

Summary of the invention

The embodiments of the present invention provide a video transmission method, equipment, and computer-readable storage medium, so as to solve the problem that in the existing video transmission method, the video is transmitted in one direction, and the rear command center can only see the video information, but it cannot be based on the video. Information controls UAVs and complex technical issues for on-site operations.

The first aspect of the embodiments of the present invention is to provide a video transmission method, which is applied to drones, including:

Determine the control station to be accessed, and establish a wireless connection with the control station to be accessed;

Sending a video access authentication request to the control station to be accessed, so that the control station to be accessed sends a video access authentication request to the background server, where the video access authentication request includes UAV identification information;

When the received video access authentication response fed back by the control station to be accessed is a successful response, the collected video information is sent to the control station to be accessed so that the control station to be accessed will The video information is sent to the back-end server, where the successful response is sent to the drone when the control station to be accessed determines that the back-end server has passed the authentication of the video access authentication request of.

The second aspect of the embodiments of the present invention is to provide a video transmission method, which is applied to a control station, and includes:

Establish a wireless connection with the drone;

Acquiring a video access authentication request sent by the drone, where the video access authentication request includes drone identification information;

When it is determined that the background server has passed the authentication of the video access authentication request, sending a success response message to the drone;

Obtain the video information sent by the drone, and forward the video information to the background server.

The third aspect of the embodiments of the present invention is to provide a video transmission method, which is applied to a video transmission system. The video transmission system includes a drone, a control station, a background server, and a handheld control terminal. The method includes:

The drone determines the control station to be accessed, and establishes a wireless connection with the control station to be accessed;

The drone sends a video access authentication request to the control station to be accessed, where the video access authentication request includes drone identification information;

The control station obtains the video access authentication request sent by the drone;

The control station sends success response information to the drone when it is determined that the background server has passed the authentication of the video access authentication request;

When the received video access authentication response fed back by the control station to be accessed is a successful response, the drone sends the collected video information to the control station to be accessed;

The control station obtains the video information sent by the drone;

The control station sends the video information to the background server.

The fourth aspect of the embodiments of the present invention is to provide an unmanned aerial vehicle, including: a memory and a processor;

The memory is used to store program codes;

The processor calls the program code, and when the program code is executed, is used to perform the following operations:

Determine the control station to be accessed, and establish a wireless connection with the control station to be accessed;

Sending a video access authentication request to the control station to be accessed, so that the control station to be accessed sends a video access authentication request to the background server, where the video access authentication request includes UAV identification information;

When the received video access authentication response fed back by the control station to be accessed is a successful response, the collected video information is sent to the control station to be accessed so that the control station to be accessed will The video information is sent to the back-end server, where the successful response is sent to the drone when the control station to be accessed determines that the back-end server has passed the authentication of the video access authentication request of.

The fifth aspect of the embodiments of the present invention is to provide a control station, including: a memory and a processor;

The memory is used to store program codes;

The processor calls the program code, and when the program code is executed, is used to perform the following operations:

Establish a wireless connection with the drone;

Acquiring a video access authentication request sent by the drone, where the video access authentication request includes drone identification information;

When it is determined that the background server has passed the authentication of the video access authentication request, sending a success response message to the drone;

Obtain the video information sent by the drone, and forward the video information to the background server.

The sixth aspect of the embodiments of the present invention is to provide a video transmission system. The video transmission system includes an unmanned aerial vehicle, a control station, a background server, and a handheld control terminal. The system is used for:

The drone determines the control station to be accessed, and establishes a wireless connection with the control station to be accessed;

The drone sends a video access authentication request to the control station to be accessed, where the video access authentication request includes drone identification information;

The control station obtains the video access authentication request sent by the drone;

When the control station determines that the background server has passed the authentication of the video access authentication request, send a success response message to the drone;

When the received video access authentication response fed back by the control station to be accessed is a successful response, the drone sends the collected video information to the control station to be accessed;

The control station obtains the video information sent by the drone;

The control station sends the video information to the background server.

A seventh aspect of the embodiments of the present invention is to provide a computer-readable storage medium on which a computer program is stored, and the computer program is executed by a processor to implement the method described in the first aspect or the second aspect or the third aspect .

The video transmission method, equipment, and computer-readable storage medium provided in this embodiment are different from the point-to-point connection between the drone and the control terminal in the prior art, by establishing communication between the drone, the control station to be accessed, and the background server Connect, which can quickly and easily transfer the data collected on the drone operation site to the back-end server. Furthermore, the operator can control the drone by accessing the data collected by the drone in the background server.

Description of the drawings

In order to explain the technical solutions in the embodiments of the present invention more clearly, the following will briefly introduce the drawings needed in the description of the embodiments. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained from these drawings without creative labor.

Figure 1 is a schematic diagram of the system architecture on which the present invention is based;

2 is a schematic flowchart of a video transmission method provided by Embodiment 1 of the present invention;

3 is a schematic flowchart of a video transmission method provided by Embodiment 2 of the present invention;

Figure 4 is another system architecture diagram provided by an embodiment of the present invention;

FIG. 5 is a schematic flowchart of a video transmission method provided by Embodiment 3 of the present invention;

FIG. 6 is another system architecture diagram provided by an embodiment of the present invention;

FIG. 7 is a schematic flowchart of a video transmission method provided by Embodiment 4 of the present invention;

FIG. 8 is a schematic flowchart of a video transmission method provided by Embodiment 5 of the present invention;

FIG. 9 is a schematic flowchart of a video transmission method provided by Embodiment 6 of the present invention;

10 is a schematic flowchart of a video transmission method provided by Embodiment 7 of the present invention;

FIG. 11 is a schematic structural diagram of an unmanned aerial vehicle provided by Embodiment 8 of the present invention;

Fig. 12 is a schematic structural diagram of a control station provided by Embodiment 9 of the present invention.

Detailed ways

The following clearly describes the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of the present invention.

It should be noted that when a component is referred to as being "fixed to" another component, it can be directly on the other component or a central component may also exist. When a component is considered to be "connected" to another component, it can be directly connected to the other component or there may be a centered component at the same time.

Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the technical field of the present invention. The terms used in the description of the present invention herein are only for the purpose of describing specific embodiments, and are not intended to limit the present invention. The term "and/or" as used herein includes any and all combinations of one or more related listed items.

Hereinafter, some embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the case of no conflict, the following embodiments and features in the embodiments can be combined with each other.

In view of the above-mentioned existing video transmission methods, the video is one-way transmission, the rear command center can only see the video information, but cannot control the drone based on the video information, and the on-site operation is complicated. , The present invention provides a video transmission method, device and computer-readable storage medium.

It should be noted that the video transmission method, device, and computer-readable storage medium provided by the present invention can be applied to any scenario where a mobile device communicates with the rear at the work site.

Fig. 1 is a schematic diagram of the system architecture on which the present invention is based. As shown in Fig. 1, the system architecture on which the present invention is based at least includes: a drone 1, a control station to be accessed, and a back-end server 3. Among them, the control station 2 to be accessed is in communication connection with the UAV 1 and the background server 3 respectively.

Fig. 2 is a schematic flowchart of a video transmission method according to Embodiment 1 of the present invention. As shown in Fig. 2, the method includes:

Step 101: Determine the control station to be accessed, and establish a wireless connection with the control station to be accessed.

The execution subject of this embodiment is a drone. In practical applications, the number of control stations can be multiple, and the control stations that can be accessed are also different according to the different working sites of the drone. Therefore, in order to realize the communication interaction with the background server, the drone can first determine the control station currently to be accessed, and then can perform information interaction with the control station to be accessed. Optionally, the control station to be accessed may specifically establish a communication connection with the UAV through a Radio signal. In addition, other connection methods may also be used to establish a communication connection with the UAV, which is not limited by the present invention.

It should be noted that the control station may specifically be any one of a fixed base station and a mobile base station.

Step 102: Send a video access authentication request to the control station to be accessed, so that the control station to be accessed sends a video access authentication request to a background server, where the video access authentication request includes a drone Identification information.

In this embodiment, after the UAV establishes a communication connection with the control station to be accessed, it can exchange information with the control station to be accessed. Therefore, the drone can send a video access authentication request to the control station to be accessed. It should be noted that the control station to be accessed can establish a communication connection with the background server, so that the server to be accessed can send the video access certification request to the video access certification request after receiving the video access certification request sent by the drone. Background server. Since there may be multiple drones operating at the same time at the same job site, in order to achieve accurate connection between the back-end server and a specific drone, when sending a video access authentication request, it can also be included in the video access authentication request. Carry drone identification information, where the drone identification information can uniquely identify the drone.

Step 103: When the received video access authentication response fed back by the to-be-accessed control station is a successful response, send the collected video information to the to-be-accessed control station, so that the to-be-accessed control station The control station sends the video information to the back-end server, where the successful response is that the control station to be accessed determines that the back-end server has passed the authentication of the video access authentication request. Sent by man-machine.

In this embodiment, after receiving the video access authentication request, the background server can authenticate the video access authentication request to determine whether to approve the drone access. Correspondingly, if it is determined to approve the access of the drone, the information requesting authentication through the video access authentication can be sent to the control station to be accessed. After the control station receives the information that has passed the video access authentication request authentication, it can send a successful response message to the UAV. At this time, after the drone receives the successful response information, it can send the currently collected video information to the control station to be accessed, and the control station to be accessed sends the video information to the background server. It should be noted that the control station to be accessed can send video information to the background server via Ethernet or cellular mobile network. Optionally, the drone may also obtain parameter information in the current operation process, and send the parameter information to the control station to be accessed, so that the control station to be accessed forwards the parameter information to the background server.

After the drone sends video information, parameter information and other data to the background server through the controller to be connected, the operator can access the background server through a browser to view the video information and parameter information, and then the operator can view After the above information, you can also want to send control information to the drone.

The video transmission method provided in this embodiment is different from the point-to-point connection between the drone and the control terminal in the prior art. The communication connection between the drone, the control station to be accessed, and the background server can be established quickly and simply The data collected at the drone operation site is transmitted to the back-end server. Furthermore, the operator can control the drone by accessing the data collected by the drone in the background server.

FIG. 3 is a schematic flowchart of a video transmission method provided by Embodiment 2 of the present invention. On the basis of any of the above embodiments, after step 101, it further includes:

Step 201: Obtain a first control instruction sent by the control station to be accessed, where the first control instruction is obtained by the control station to be accessed from a background server;

Step 202: Control the operation of the drone according to the first control instruction.

In this embodiment, based on the system architecture of the drone, the control station to be accessed, and the back-end server, on the one hand, the drone can send the collected video cable to the back-end server for the operator to view; On the one hand, the background server can also send control instructions to the drone to control the drone. Specifically, the drone may obtain the first control instruction sent by the control station to be accessed, where the first control instruction is sent by the background server to the control station to be accessed. After receiving the first control instruction, the drone can operate according to the first control instruction. Among them, the first control instruction may be sent by the operator to the drone according to the current demand, or it may be generated by the operator after viewing the data on the video collected by the drone; the first control instruction may be none. What is sent to the UAV before the human-machine flight may also be sent to the UAV during the operation of the UAV, which is not limited in the present invention.

Optionally, the first control instruction may include route information, so that after receiving the first control instruction, the drone can navigate according to the route information; optionally, the first control instruction may also include control actions , Where the control actions include but are not limited to take-off, return, stop, etc. Therefore, the drone can perform the control action after receiving the first control instruction; optionally, the background server can also obtain parameter information during the operation of the drone, and generate a data acquisition request. The data acquisition request includes The identification of the data to be acquired, the data acquisition request is sent to the control station to be accessed, and the control station to be connected sends the data acquisition request to the drone. After the drone receives the data acquisition request, it will acquire and wait for the data acquisition request. The data corresponding to the identifier of the acquired data is fed back to the control station to be accessed, and the control station to be accessed sends the data corresponding to the identifier of the data to be acquired to the background server.

The video transmission method provided in this embodiment obtains the first control instruction sent by the back-end server through the control station to be accessed, and controls the drone according to the first control instruction, so as to realize the information between the drone and the back-end server. On the basis of interaction, the drone can be controlled accurately and effectively, which improves the safety of the drone during its operation.

FIG. 4 is another system architecture diagram provided by an embodiment of the present invention. As shown in FIG. 4, the system architecture on which the present invention is based may also include a handheld control terminal 4, which includes, but is not limited to, a handheld remote control, operation者terminal, etc. The handheld control terminal 4 is in communication connection with the control station 2 to be accessed, so as to be able to communicate with the control station 2 to be accessed.

Based on the system architecture diagram provided in FIG. 4, on the basis of any of the above embodiments, after step 101, the method further includes:

Acquiring a second control instruction sent by the control station to be accessed, where the second control instruction is acquired by the control station to be accessed from the handheld control terminal;

The operation of the drone is controlled according to the second control instruction.

In this embodiment, the handheld control terminal can also realize the control of the drone. Specifically, the handheld control terminal may send a second control instruction to the control station to be accessed, and accordingly, after the control station to be accessed receives the second control instruction, it may send the second control instruction to the drone. After the drone receives the second control instruction sent by the handheld control terminal through the control station to be accessed, the drone can control the drone to fly according to the second control instruction. It should be noted that the content contained in the second control instruction is similar to that of the first control instruction, and the details can be seen in the above-mentioned embodiment, which will not be repeated here.

Optionally, the operator can control the drone through a handheld control terminal according to current needs. For example, if there are sudden obstacles on the current route of the drone, and the drone cannot perform timely obstacle avoidance operations, the operator can send a second control instruction to the drone through the handheld control terminal to control UAVs avoid obstacles and improve the safety of UAV operations.

The video transmission method provided in this embodiment obtains the second control instruction sent by the handheld control terminal through the control station to be accessed, and controls the UAV according to the second control instruction, thereby enabling the UAV to communicate with the background server. On the basis of information interaction, the safety of UAV operation is further improved.

FIG. 5 is a schematic flowchart of a video transmission method provided in Embodiment 3 of the present invention. Based on any of the foregoing embodiments, the method further includes:

Step 301: Send the first communication verification information of the drone to the handheld control terminal, so that the handheld control terminal sends the first communication verification information to a background server, where the background server is configured To send the first communication verification information to the control station to be accessed;

Step 302: Obtain the second communication verification information of the control station to be accessed and the third communication verification information of the candidate control station sent by the handheld control terminal, where the second communication verification information is the handheld terminal Obtained from the background server; wherein the first communication verification information and the second communication verification information are used to establish the wireless connection between the drone and the control station to be accessed.

In this embodiment, since the communication ID of each drone is different in the prior art, it must enter the pairing mode at the same time through a short distance with the handheld control terminal, and then exchange the communication ID and encryption code before each other can communicate with each other. send Message. The control station to be accessed is usually fixed at a high point and has a large distance from the ground. It cannot trigger the frequency-linking mode frequently, and it cannot use close-range frequency-linking to pair and communicate with the UAV. Therefore, in order to establish a communication connection between the drone and the control station to be accessed, the drone can first send the first communication verification information of the drone to the handheld control terminal. After receiving the first communication verification information, the handheld control terminal can send the first communication verification information to the background server. After receiving the first communication verification information, the background server can send the first communication verification information to the control station to be accessed. The drone obtains the second communication verification information of the to-be-accessed control station and the third verification information of the candidate control station sent by the handheld control terminal, where the second communication verification information is obtained by the handheld terminal from the background server. It should be noted that the first communication verification information and the second communication verification information are specifically used to establish a wireless connection between the drone and the control station to be accessed.

Fig. 6 is another system architecture diagram provided by an embodiment of the present invention. As shown in Fig. 6, in the system architecture based on the present invention, the handheld control terminal 4 can respectively communicate with the drone 1, the control station 2 to be accessed, and The background server 3 establishes a communication connection.

Specifically, on the basis of any of the foregoing embodiments, the method further includes:

Send the location information of the drone to the handheld control terminal, so that the handheld control terminal sends the location information to the backend server, wherein the backend server is configured to download from the location information according to the location information. A plurality of control stations determine the control station to be accessed.

In this embodiment, the number of control stations can be multiple. Because the location of the drone's work site is different, the control stations that the drone can connect to are also different, and the communication effects of connecting to different control stations are also different. different. Therefore, before communicating with the control station, you first need to determine the control station to be accessed. Specifically, the location information of the drone can be sent to the handheld control terminal, so that the handheld control terminal can send the location information to the background server. Correspondingly, the background server can determine the control station to be accessed from the multiple control terminals according to the location information. The control station to be accessed may be the closest to the UAV, or the one with the best communication effect, which is not limited in the present invention.

The video transmission method provided in this embodiment establishes a wireless connection between the drone and the control station to be accessed by using the first communication verification information and the second communication verification information, thereby providing a communication between the drone and the background server. Information exchange provides the basis.

FIG. 7 is a schematic flowchart of a video transmission method provided by Embodiment 4 of the present invention. The application and control station, as shown in FIG. 7, the method includes:

Step 401: Establish a wireless connection with the drone;

Step 402: Obtain a video access authentication request sent by the drone, where the video access authentication request includes drone identification information.

Step 403: When it is determined that the background server has passed the authentication of the video access authentication request, send a success response message to the drone;

Step 404: Obtain the video information sent by the drone, and forward the video information to the background server.

In this embodiment, in order to realize the communication connection between the UAV and the background server, the control station first needs to establish a communication connection with the UAV. It can establish a communication connection with the UAV through a Radio signal. In addition, other connection methods may also be used to establish a communication connection with the UAV, which is not limited in the present invention. After establishing a communication connection with the drone, the control station can receive the video access authentication request sent by the drone. Since multiple drones may exist at the same operation site at the same time, the video access authentication request may also include drone identification information, where the drone identification information can uniquely identify the drone.

It should be noted that the control station can establish a communication connection with the background server, so that after receiving the video access authentication request sent by the drone, the video access authentication request can be sent to the background server. When it is determined that the background server has passed the authentication of the video access authentication request, the control station can send a successful response message to the UAV. After the background server receives the video access authentication request, it can authenticate the video access authentication request to determine whether to approve the drone access. Correspondingly, if it is determined to approve the access of the drone, the information requesting authentication through the video access authentication can be sent to the control station to be accessed. After the control station receives the information that the video access authentication request is authenticated, it can send a successful response message to the UAV. At this time, after the drone receives the successful response information, it can send the currently collected video information to the control station to be connected, and the control station to be connected sends the video information to the background server.

The video transmission method provided in this embodiment is different from the point-to-point connection between the drone and the control terminal in the prior art. The communication connection between the drone, the control station to be accessed, and the background server can be established quickly and simply The data collected at the drone operation site is transmitted to the back-end server. Furthermore, the operator can control the drone by accessing the data collected by the drone in the background server.

Further, on the basis of any of the foregoing embodiments, step 404 specifically includes:

Acquiring the video information sent by the drone, performing a format conversion operation on the video information, and obtaining the video information after the format conversion;

The video information after the format conversion is forwarded to the background server.

In this embodiment, the control station can also obtain the video information sent by the drone, perform format conversion on it, and send the converted video information to the background server. Therefore, the operator can directly access the background server to view the video information, without the need to perform video format conversion again, which improves the user experience.

Further, on the basis of any of the foregoing embodiments, the control station is any one of a fixed base station and a mobile base station.

Correspondingly, on the basis of any of the foregoing embodiments, when the control station is a fixed base station, before step 404, the method further includes:

Establish a communication connection with the background server via Ethernet.

In this embodiment, when the control station is a fixed base station, the control station can establish a communication connection with the background server via Ethernet to realize information exchange.

Correspondingly, on the basis of any of the foregoing embodiments, when the control station is a mobile base station, before step 404, the method further includes:

A communication connection is established with the background server through a cellular mobile network.

In this embodiment, when the control station is a fixed base station, the control station can establish a communication connection with the background server through a cellular mobile network to realize information interaction.

FIG. 8 is a schematic flowchart of a video transmission method according to Embodiment 5 of the present invention. On the basis of any of the above embodiments, after step 401, it further includes:

Step 501: Obtain a first control instruction sent by the background server, where the first control instruction is sent by an operator accessing the background server through a terminal device;

Step 502: Send the first control instruction to the drone, so that the drone executes the first control instruction.

In this embodiment, based on the system architecture of the drone, the control station, and the back-end server, on the one hand, the drone can send the collected video cable to the back-end server for the operator to view; on the other hand, the back-end server You can also send control instructions to the drone to control the drone. Specifically, the control station may obtain the first control instruction sent by the background server, and the first control instruction may specifically be sent by an operator accessing the background server through a terminal device. The control station may send the first control instruction to the drone, so that the drone can operate according to the first control instruction after receiving the first control instruction. Among them, the first control instruction may be sent by the operator to the drone according to the current demand, or it may be generated by the operator after viewing the data on the video collected by the drone; the first control instruction may be none. What is sent to the UAV before the human-machine flight may also be sent to the UAV during the operation of the UAV, which is not limited in the present invention.

Optionally, the first control instruction may include route information, so that after receiving the first control instruction, the drone can navigate according to the route information; optionally, the first control instruction may also include control actions , Where the control actions include but are not limited to take-off, return, stop, etc. Therefore, the drone can perform the control action after receiving the first control instruction; optionally, the background server can also obtain parameter information during the operation of the drone, and generate a data acquisition request. The data acquisition request includes The identification of the data to be acquired, the data acquisition request is sent to the control station, and the control station sends the data acquisition request to the drone. After receiving the data acquisition request, the drone acquires the data corresponding to the identification of the data to be acquired, It is fed back to the control station, and the control station sends the data corresponding to the identification of the data to be obtained to the background server.

The video transmission method provided in this embodiment obtains the first control instruction sent by the background server, and sends the first control instruction to the drone, and controls the drone according to the first control instruction, so as to realize the unmanned operation. Based on the information interaction between the drone and the background server, the drone can be accurately and effectively controlled, which improves the safety of the drone during its operation.

Further, on the basis of any of the foregoing embodiments, after step 401, the method further includes:

Acquiring the second control instruction sent by the handheld control terminal;

The second control instruction is sent to the drone, so that the drone executes the second control instruction.

In this embodiment, the handheld control terminal can also realize the control of the drone. Specifically, the control station may obtain the second control instruction sent by the handheld control terminal, and send the second control instruction to the drone. After the drone receives the second control instruction sent by the handheld control terminal through the control station to be accessed, the drone can control the drone to fly according to the second control instruction. It should be noted that the content contained in the second control instruction is similar to that of the first control instruction, and the details can be seen in the above-mentioned embodiment, which will not be repeated here.

Optionally, the operator can control the drone through a handheld control terminal according to current needs. For example, if there are sudden obstacles on the current route of the drone, and the drone cannot perform timely obstacle avoidance operations, the operator can send a second control instruction to the drone through the handheld control terminal to control UAVs avoid obstacles and improve the safety of UAV operations.

The video transmission method provided in this embodiment acquires the second control instruction sent by the handheld control terminal, and sends the second control instruction to the drone, and controls the drone according to the second control instruction, so as to realize the Based on the information interaction between man-machine and background server, the safety of UAV operation is further improved.

Fig. 9 is a schematic flowchart of a video transmission method according to Embodiment 6 of the present invention. Based on any of the foregoing embodiments, the method further includes:

Step 601: Receive the first communication verification information of the drone sent by the back-end server, where the back-end server is configured to obtain the first communication verification information from the handheld control terminal and send it to the control to be accessed. station;

Step 602: Send the second communication verification information of the control station to the background server, so that the background server sends the second communication verification information to the handheld control terminal, where the handheld control terminal Sending the second communication verification information to the drone; wherein the first communication verification information and the second communication verification information are used to establish the wireless connection between the drone and the control station connection.

In this embodiment, since the communication ID of each drone is different in the prior art, it must enter the pairing mode at the same time through a short distance with the handheld control terminal, and then exchange the communication ID and encryption code before each other can communicate with each other. send Message. The control station is usually fixed at a high point and has a large distance from the ground. It cannot trigger the frequency-linking mode frequently, and it cannot use close-range frequency-linking to pair and communicate with the drone. Therefore, in order to establish a communication connection between the drone and the control station to be accessed, the first communication verification information of the drone sent by the background server can be received. The first communication verification information is sent by the drone to the handheld control terminal. After the first communication verification information of the drone, the first communication verification information is sent to the background server, and the background server feeds back. The second communication verification information of the control station is sent to the background server, so that the background server can send the second communication verification information to the handheld control terminal. After receiving the second communication verification information, the handheld control terminal can send the second communication verification information to the drone, so that the drone and the control station can use the first communication verification information and the second communication verification information to establish a communication connection .

The video transmission method provided in this embodiment uses the first communication verification information and the second communication verification information to establish a wireless connection between the drone and the control station, thereby providing information interaction between the drone and the background server basis.

Further, on the basis of any of the foregoing embodiments, the method further includes:

If the first control instruction sent by the background server and the second control instruction sent by the handheld control terminal are received at the same time, the second control instruction is sent to the drone according to a preset priority, So that the drone executes the second control instruction.

In this embodiment, both the handheld control terminal and the background server can realize the control of the drone. It is understandable that when the drone only receives the first control instruction sent by the background server or the second control instruction sent by the handheld control terminal, it can only be based on the first control instruction sent by the background server or the second control instruction sent by the handheld control terminal. Second, the control instruction is executed. However, when the drone simultaneously receives the first control instruction sent by the background server and the second control instruction sent by the handheld control terminal, it needs to determine to execute the first control instruction or the second control instruction.

Specifically, if the drone receives the first control instruction sent by the background server and the second control instruction sent by the handheld control terminal at the same time, the second control instruction can be sent to the drone according to the preset priority to control the drone. The man-machine executes the second control instruction. In practical applications, the first control instruction may be sent by the operator according to actual needs, or may be sent by the operator according to the video information collected by the drone, which does not have real-time performance. The second control instruction is sent by the operator according to the actual situation on the job site. Therefore, in order to ensure the operational safety of the drone, a higher priority can be set for the second control instruction.

The video transmission method provided in this embodiment determines the control instructions that need to be executed according to the preset priority when receiving the first control instruction sent by the background server and the second control instruction sent by the handheld control terminal at the same time. On the basis of the information interaction between the drone and the background server, the safety of the drone operation is improved.

FIG. 10 is a schematic flowchart of a video transmission method according to Embodiment 7 of the present invention, which is applied to a video transmission system, where the video transmission system specifically includes a drone, a control station, a background server, and a handheld control terminal. The method includes:

Step 701: The drone determines the control station to be accessed, and establishes a wireless connection with the control station to be accessed;

Step 702: The drone sends a video access authentication request to the control station to be accessed, where the video access authentication request includes drone identification information;

Step 703: The control station obtains the video access authentication request sent by the drone;

Step 704: The control station sends a success response message to the drone when it is determined that the background server has passed the authentication of the video access authentication request;

Step 705: When the received video access authentication response fed back by the control station to be accessed is a successful response, the drone sends the collected video information to the control station to be accessed;

Step 706: The control station obtains the video information sent by the drone.

Step 707: The control station sends the video information to the background server.

In this embodiment, in order to realize the communication connection between the UAV and the background server, the control station first needs to establish a communication connection with the UAV. It can establish a communication connection with the UAV through a Radio signal. In addition, other connection methods may also be used to establish a communication connection with the UAV, which is not limited in the present invention. After establishing a communication connection with the drone, the control station can receive the video access authentication request sent by the drone. Since multiple drones may exist at the same operation site at the same time, the video access authentication request may also include drone identification information, where the drone identification information can uniquely identify the drone.

It should be noted that the control station can establish a communication connection with the background server, so that after receiving the video access authentication request sent by the drone, the video access authentication request can be sent to the background server. When it is determined that the background server has passed the authentication of the video access authentication request, the control station can send a successful response message to the UAV. After the background server receives the video access authentication request, it can authenticate the video access authentication request to determine whether to approve the drone access. Correspondingly, if it is determined to approve the access of the drone, the information requesting authentication through the video access authentication can be sent to the control station to be accessed. After the control station receives the information that the video access authentication request is authenticated, it can send a successful response message to the UAV. At this time, after the drone receives the successful response information, it can send the currently collected video information to the control station to be connected, and the control station to be connected sends the video information to the background server.

The video transmission method provided in this embodiment is different from the point-to-point connection between the drone and the control terminal in the prior art. The communication connection between the drone, the control station to be accessed, and the background server can be established quickly and simply The data collected at the drone operation site is transmitted to the back-end server. Furthermore, the operator can control the drone by accessing the data collected by the drone in the background server.

FIG. 11 is a schematic structural diagram of an unmanned aerial vehicle according to Embodiment 8 of the present invention. As shown in FIG. 11, the unmanned aerial vehicle includes: a memory 81 and a processor 82;

The memory 81 is used to store program codes;

The processor 82 calls the program code, and when the program code is executed, is used to perform the following operations:

Determine the control station to be accessed, and establish a wireless connection with the control station to be accessed;

Sending a video access authentication request to the control station to be accessed, so that the control station to be accessed sends a video access authentication request to the background server, where the video access authentication request includes UAV identification information;

When the received video access authentication response fed back by the control station to be accessed is a successful response, the collected video information is sent to the control station to be accessed so that the control station to be accessed will The video information is sent to the back-end server, where the successful response is sent to the drone when the control station to be accessed determines that the back-end server has passed the authentication of the video access authentication request of.

Further, on the basis of any of the foregoing embodiments, after establishing a connection with the control station to be accessed, the processor is further configured to:

Acquiring a first control instruction sent by the control station to be accessed, where the first control instruction is acquired by the control station to be accessed from a background server;

The operation of the drone is controlled according to the first control instruction.

Further, on the basis of any of the foregoing embodiments, the control station is in a communication connection with a handheld control terminal, and the processor is further configured to: after establishing a connection with the control station to be accessed:

Acquiring a second control instruction sent by the control station to be accessed, where the second control instruction is acquired by the control station to be accessed from the handheld control terminal;

The operation of the drone is controlled according to the second control instruction.

Further, on the basis of any of the foregoing embodiments, the processor is further configured to:

Send the first communication verification information of the drone to the handheld control terminal, so that the handheld control terminal sends the first communication verification information to a background server, where the background server is configured to Sending the first communication verification information to the control station to be accessed;

Acquire the second communication verification information of the control station to be accessed and the third communication verification information of the candidate control station sent by the handheld control terminal, wherein the second communication verification information is the second communication verification information of the handheld terminal from the Obtained by the background server;

Wherein, the first communication verification information and the second communication verification information are used to establish the wireless connection between the drone and the control station to be accessed.

Further, on the basis of any of the foregoing embodiments, the processor is further configured to:

Send the location information of the drone to the handheld control terminal, so that the handheld control terminal sends the location information to the backend server, wherein the backend server is configured to download from the location information according to the location information. A plurality of control stations determine the control station to be accessed.

FIG. 12 is a schematic structural diagram of a control station provided by Embodiment 9 of the present invention. As shown in FIG. 12, the control station includes: a memory 91 and a processor 92;

The memory 91 is used to store program codes;

The processor 92 calls the program code, and when the program code is executed, is configured to perform the following operations:

Establish a wireless connection with the drone;

Acquiring a video access authentication request sent by the drone, where the video access authentication request includes drone identification information;

When it is determined that the background server has passed the authentication of the video access authentication request, sending a success response message to the drone;

Obtain the video information sent by the drone, and forward the video information to the background server.

Further, on the basis of any of the foregoing embodiments, the control station is any one of a fixed base station and a movable base station.

Further, on the basis of any of the foregoing embodiments, the control station is a fixed base station, and the processor is further configured to: before forwarding the video information to the background server:

Establish a communication connection with the background server via Ethernet.

Further, on the basis of any of the foregoing embodiments, the control station is a mobile base station, and the processor is further configured to: before forwarding the video information to the background server:

A communication connection is established with the background server through a cellular mobile network.

Further, on the basis of any of the foregoing embodiments, after the processor establishes a connection with the drone, it is further used for:

Acquiring a first control instruction sent by the background server, where the first control instruction is sent by an operator accessing the background server through a terminal device;

The first control instruction is sent to the drone, so that the drone executes the first control instruction.

Further, on the basis of any of the foregoing embodiments, after the processor establishes a connection with the drone, it is further used for:

Acquiring the second control instruction sent by the handheld control terminal;

The second control instruction is sent to the drone, so that the drone executes the second control instruction.

Further, on the basis of any of the foregoing embodiments, the processor is further configured to:

Receiving the first communication verification information of the drone sent by a background server, wherein the background server is configured to obtain the first communication verification information from the handheld control terminal and send it to the control station to be accessed;

The second communication verification information of the control station is sent to the background server, so that the background server sends the second communication verification information to the handheld control terminal, wherein the handheld control terminal sends the The second communication verification information is sent to the drone;

Wherein, the first communication verification information and the second communication verification information are used to establish the wireless connection between the drone and the control station.

Further, on the basis of any of the foregoing embodiments, the processor is further configured to:

If the first control instruction sent by the background server and the second control instruction sent by the handheld control terminal are received at the same time, the second control instruction is sent to the drone according to a preset priority, So that the drone executes the second control instruction.

Further, on the basis of any of the foregoing embodiments, when the processor obtains the video information sent by the drone and forwards the video information to the background server, it is used to:

Acquiring the video information sent by the drone, performing a format conversion operation on the video information, and obtaining the video information after the format conversion;

The video information after the format conversion is forwarded to the background server.

Another embodiment of the present invention also provides a video transmission system. The video transmission system includes an unmanned aerial vehicle, a control station, a background server, and a handheld control terminal. The system is used for:

The drone determines the control station to be accessed, and establishes a wireless connection with the control station to be accessed;

The drone sends a video access authentication request to the control station to be accessed, where the video access authentication request includes drone identification information;

The control station obtains the video access authentication request sent by the drone;

The control station sends success response information to the drone when it is determined that the background server has passed the authentication of the video access authentication request;

When the received video access authentication response fed back by the control station to be accessed is a successful response, the drone sends the collected video information to the control station to be accessed;

The control station obtains the video information sent by the drone;

The control station sends the video information to the background server.

Yet another embodiment of the present invention also provides a computer-readable storage medium on which a computer program is stored, and the computer program is executed by a processor to implement the method described in any of the foregoing embodiments.

In the several embodiments provided by the present invention, it should be understood that the disclosed device and method can be implemented in other ways. For example, the device embodiments described above are merely illustrative, for example, the division of the units is only a logical function division, and there may be other divisions in actual implementation, for example, multiple units or components may be combined or It can be integrated into another system, or some features can be ignored or not implemented. In addition, the displayed or discussed mutual coupling or direct coupling or communication connection may be indirect coupling or communication connection through some interfaces, devices or units, and may be in electrical, mechanical or other forms.

The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the objectives of the solutions of the embodiments.

In addition, the functional units in the various embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware, or may be implemented in the form of hardware plus software functional units.

The above-mentioned integrated unit implemented in the form of a software functional unit may be stored in a computer readable storage medium. The above-mentioned software functional unit is stored in a storage medium and includes several instructions to make a computer device (which may be a personal computer, a server, or a network device, etc.) or a processor (processor) execute the method described in the various embodiments of the present invention. Part of the steps. The aforementioned storage media include: U disk, mobile hard disk, read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic disk or optical disk and other media that can store program code .

Those skilled in the art can clearly understand that for the convenience and conciseness of the description, only the division of the above-mentioned functional modules is used as an example. In practical applications, the above-mentioned functions can be allocated by different functional modules as required, that is, the device The internal structure is divided into different functional modules to complete all or part of the functions described above. For the specific working process of the device described above, reference may be made to the corresponding process in the foregoing method embodiment, which will not be repeated here.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: The technical solutions recorded in the foregoing embodiments can still be modified, or some or all of the technical features can be equivalently replaced; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the technical solutions of the embodiments of the present invention. range.

Claims (31)

A video transmission method applied to unmanned aerial vehicles, characterized in that it includes: Determine the control station to be accessed, and establish a wireless connection with the control station to be accessed; Sending a video access authentication request to the control station to be accessed, so that the control station to be accessed sends a video access authentication request to the background server, where the video access authentication request includes UAV identification information; When the received video access authentication response fed back by the control station to be accessed is a successful response, the collected video information is sent to the control station to be accessed so that the control station to be accessed will The video information is sent to the back-end server, where the successful response is sent to the drone when the control station to be accessed determines that the back-end server has passed the authentication of the video access authentication request of. The method according to claim 1, wherein after establishing a connection with the control station to be accessed, the method further comprises: Acquiring a first control instruction sent by the control station to be accessed, where the first control instruction is acquired by the control station to be accessed from a background server; The operation of the drone is controlled according to the first control instruction. The method according to claim 1, wherein the control station communicates with a handheld control terminal, and after establishing a connection with the control station to be accessed, the method further comprises: Acquiring a second control instruction sent by the control station to be accessed, where the second control instruction is acquired by the control station to be accessed from the handheld control terminal; The operation of the drone is controlled according to the second control instruction. The method according to claim 3, wherein the method further comprises: Send the first communication verification information of the drone to the handheld control terminal, so that the handheld control terminal sends the first communication verification information to a background server, where the background server is configured to Sending the first communication verification information to the control station to be accessed; Acquiring the second communication verification information of the to-be-accessed control station sent by the handheld control terminal, where the second communication verification information is acquired by the handheld terminal from the background server; Wherein, the first communication verification information and the second communication verification information are used to establish the wireless connection between the drone and the control station to be accessed. The method according to claim 4, wherein the method further comprises: Send the location information of the drone to the handheld control terminal, so that the handheld control terminal sends the location information to the backend server, wherein the backend server is configured to download from the location information according to the location information. A plurality of control stations determine the control station to be accessed. A video transmission method applied to a control station, characterized in that it includes: Establish a wireless connection with the drone; Acquiring a video access authentication request sent by the drone, where the video access authentication request includes drone identification information; When it is determined that the background server has passed the authentication of the video access authentication request, sending a success response message to the drone; Obtain the video information sent by the drone, and forward the video information to the background server. The method according to claim 6, wherein the control station is any one of a fixed base station and a mobile base station. The method according to claim 7, wherein the control station is a fixed base station, and before forwarding the video information to a background server, the method further comprises: Establish a communication connection with the background server via Ethernet. The method according to claim 7, wherein the control station is a mobile base station, and before forwarding the video information to a background server, the method further comprises: A communication connection is established with the background server through a cellular mobile network. The method according to any one of claims 6-9, wherein after establishing a connection with the drone, the method further comprises: Acquiring a first control instruction sent by the background server, where the first control instruction is sent by an operator accessing the background server through a terminal device; The first control instruction is sent to the drone, so that the drone executes the first control instruction. The method according to claim 6, characterized in that, after establishing a connection with the drone, the method further comprises: Acquiring the second control instruction sent by the handheld control terminal; The second control instruction is sent to the drone, so that the drone executes the second control instruction. The method according to claim 11, wherein the method further comprises: Receiving the first communication verification information of the drone sent by a background server, wherein the background server is configured to obtain the first communication verification information from the handheld control terminal and send it to the control station to be accessed; The second communication verification information of the control station is sent to the background server, so that the background server sends the second communication verification information to the handheld control terminal, wherein the handheld control terminal sends the The second communication verification information is sent to the drone; Wherein, the first communication verification information and the second communication verification information are used to establish the wireless connection between the drone and the control station. The method according to claim 11, wherein the method further comprises: If the first control instruction sent by the background server and the second control instruction sent by the handheld control terminal are received at the same time, the second control instruction is sent to the drone according to a preset priority, So that the drone executes the second control instruction. The method according to any one of claims 6-9 and 11-13, wherein the acquiring video information sent by the drone, and forwarding the video information to a background server, comprises: Acquiring the video information sent by the drone, performing a format conversion operation on the video information, and obtaining the video information after the format conversion; The video information after the format conversion is forwarded to the background server. A video transmission method applied to a video transmission system, characterized in that the video transmission system includes a drone, a control station, a background server, and a handheld control terminal, and the method includes: The drone determines the control station to be accessed, and establishes a wireless connection with the control station to be accessed; The drone sends a video access authentication request to the control station to be accessed, where the video access authentication request includes drone identification information; The control station obtains the video access authentication request sent by the drone; The control station sends success response information to the drone when it is determined that the background server has passed the authentication of the video access authentication request; When the received video access authentication response fed back by the control station to be accessed is a successful response, the drone sends the collected video information to the control station to be accessed; The control station obtains the video information sent by the drone; The control station sends the video information to the background server. An unmanned aerial vehicle, characterized by comprising: a memory and a processor; The memory is used to store program codes; The processor calls the program code, and when the program code is executed, is used to perform the following operations: Determine the control station to be accessed, and establish a wireless connection with the control station to be accessed; Sending a video access authentication request to the control station to be accessed, so that the control station to be accessed sends a video access authentication request to the background server, where the video access authentication request includes UAV identification information; When the received video access authentication response fed back by the control station to be accessed is a successful response, the collected video information is sent to the control station to be accessed so that the control station to be accessed will The video information is sent to the back-end server, where the successful response is sent to the drone when the control station to be accessed determines that the back-end server has passed the authentication of the video access authentication request of. The unmanned aerial vehicle according to claim 16, wherein the processor is further configured to: after establishing a connection with the control station to be accessed: Acquiring a first control instruction sent by the control station to be accessed, where the first control instruction is acquired by the control station to be accessed from a background server; The operation of the drone is controlled according to the first control instruction. The unmanned aerial vehicle according to claim 16, wherein the control station is in a communication connection with a handheld control terminal, and the processor is further configured to: after establishing a connection with the control station to be accessed: Acquiring a second control instruction sent by the control station to be accessed, where the second control instruction is acquired by the control station to be accessed from the handheld control terminal; The operation of the drone is controlled according to the second control instruction. The drone according to claim 18, wherein the processor is further configured to: Send the first communication verification information of the drone to the handheld control terminal, so that the handheld control terminal sends the first communication verification information to a background server, where the background server is configured to Sending the first communication verification information to the control station to be accessed; Acquiring the second communication verification information of the to-be-accessed control station sent by the handheld control terminal, where the second communication verification information is acquired by the handheld terminal from the background server; Wherein, the first communication verification information and the second communication verification information are used to establish the wireless connection between the drone and the control station to be accessed. The drone according to claim 19, wherein the processor is further configured to: Send the location information of the drone to the handheld control terminal, so that the handheld control terminal sends the location information to the backend server, wherein the backend server is configured to download from the location information according to the location information. A plurality of control stations determine the control station to be accessed. A control station, characterized by comprising: a memory and a processor; The memory is used to store program codes; The processor calls the program code, and when the program code is executed, is used to perform the following operations: Establish a wireless connection with the drone; Acquiring a video access authentication request sent by the drone, where the video access authentication request includes drone identification information; When it is determined that the background server has passed the authentication of the video access authentication request, sending a success response message to the drone; Obtain the video information sent by the drone, and forward the video information to the background server. The control station according to claim 21, wherein the control station is any one of a fixed base station and a mobile base station. The control station according to claim 22, wherein the control station is a fixed base station, and the processor is further configured to: before forwarding the video information to the background server: Establish a communication connection with the background server via Ethernet. The control station according to claim 22, wherein the control station is a mobile base station, and the processor is further configured to: before forwarding the video information to the background server: A communication connection is established with the background server through a cellular mobile network. The control station according to any one of claims 21-24, wherein the processor is further used for: after establishing a connection with the drone: Acquiring a first control instruction sent by the background server, where the first control instruction is sent by an operator accessing the background server through a terminal device; The first control instruction is sent to the drone, so that the drone executes the first control instruction. The control station according to claim 21, wherein the processor is further used for: after establishing a connection with the UAV: Acquiring the second control instruction sent by the handheld control terminal; The second control instruction is sent to the drone, so that the drone executes the second control instruction. The control station according to claim 26, wherein the processor is further configured to: Receiving the first communication verification information of the drone sent by a background server, wherein the background server is configured to obtain the first communication verification information from the handheld control terminal and send it to the control station to be accessed; The second communication verification information of the control station is sent to the background server, so that the background server sends the second communication verification information to the handheld control terminal, wherein the handheld control terminal sends the The second communication verification information is sent to the drone; Wherein, the first communication verification information and the second communication verification information are used to establish the wireless connection between the drone and the control station. The control station according to claim 26, wherein the processor is further configured to: If the first control instruction sent by the background server and the second control instruction sent by the handheld control terminal are received at the same time, the second control instruction is sent to the drone according to a preset priority, So that the drone executes the second control instruction. The control station according to any one of claims 21-24, 26-28, wherein the processor acquires the video information sent by the drone and forwards the video information to the background server. For: Acquiring the video information sent by the drone, performing a format conversion operation on the video information, and obtaining the video information after the format conversion; The video information after the format conversion is forwarded to the background server. A video transmission system, characterized in that the video transmission system includes an unmanned aerial vehicle, a control station, a background server, and a handheld control terminal, and the system is used for: The drone determines the control station to be accessed, and establishes a wireless connection with the control station to be accessed; The drone sends a video access authentication request to the control station to be accessed, where the video access authentication request includes drone identification information; The control station obtains the video access authentication request sent by the drone; The control station sends success response information to the drone when it is determined that the background server has passed the authentication of the video access authentication request; When the received video access authentication response fed back by the control station to be accessed is a successful response, the drone sends the collected video information to the control station to be accessed; The control station obtains the video information sent by the drone; The control station sends the video information to the background server. A computer-readable storage medium, characterized in that a computer program is stored thereon, and the computer program is executed by a processor to implement the method according to any one of claims 1-5, 6-14, and 15.

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