Image transmission method, device, movable platform, system and storage medium

文档序号：835744 发布日期：2021-03-30 浏览：8次中文

阅读说明：本技术 图像传输方法、设备、可移动平台、系统和存储介质 (Image transmission method, device, movable platform, system and storage medium ) 是由肖巍张冬苏文艺张志鹏朱磊马宁于 2019-11-29 设计创作，主要内容包括：一种图像传输方法、设备、可移动平台、系统和存储介质。方法包括：获取至少一个终端设备的至少一个图像解码模式(S301)；在多个预设编码模式中,根据至少一个图像解码模式确定一目标编码模式(S302)；利用目标编码模式对待传输图像进行编码处理,获得与待传输图像相对应的图传码流数据(S303)；将图传码流数据发送至至少一个终端设备(S304)。所述方法通过获取至少一个终端设备的至少一个图像解码模式,根据至少一个图像解码模式确定一目标编码模式,而后利用目标编码模式将待传输图像编码处理为图传码流数据,并将图传码流数据发送至至少一个终端设备,保证了可移动平台与终端设备之间的图传能力相匹配,进而提高了图像传输的质量和效率。(An image transmission method, an image transmission apparatus, a movable platform, a system, and a storage medium. The method comprises the following steps: acquiring at least one image decoding mode of at least one terminal device (S301); determining a target encoding mode according to at least one image decoding mode among a plurality of preset encoding modes (S302); coding the image to be transmitted by using a target coding mode to obtain image transmission code stream data corresponding to the image to be transmitted (S303); the graphics stream data is transmitted to at least one terminal device (S304). According to the method, at least one image decoding mode of at least one terminal device is obtained, a target coding mode is determined according to the at least one image decoding mode, then the image to be transmitted is coded and processed into image transmission code stream data by using the target coding mode, and the image transmission code stream data is sent to the at least one terminal device, so that the matching of image transmission capacity between a movable platform and the terminal device is ensured, and the quality and the efficiency of image transmission are improved.)

1. An image transmission method applied to a movable platform, the method comprising:

acquiring at least one image decoding mode of at least one terminal device;

determining a target coding mode according to at least one image decoding mode in a plurality of preset coding modes;

coding the image to be transmitted by using the target coding mode to obtain image transmission code stream data corresponding to the image to be transmitted;

and sending the graph transmission code stream data to at least one terminal device.

2. The method of claim 1, wherein obtaining at least one image decoding mode of at least one terminal device comprises:

and acquiring at least one image decoding mode sent by at least one terminal device after the communication connection is established between the movable platform and the terminal device.

3. The method of claim 1, further comprising:

determining the quantity information of the terminal equipment which establishes communication connection with the movable platform;

and determining an initial coding mode for coding the image to be transmitted based on the quantity information.

4. The method according to claim 3, wherein determining an initial encoding mode for encoding the image to be transmitted based on the quantity information comprises:

and when the quantity information is one, determining that an initial coding mode for coding the image to be transmitted is a historical coding mode recorded by the movable platform.

5. The method of claim 4, wherein the historical encoding patterns recorded by the movable platform comprise encoding patterns used by the movable platform prior to shutdown.

6. The method of claim 4, wherein the historical encoding patterns recorded by the movable platform comprise encoding patterns recorded by the movable platform that are associated with the terminal device.

7. The method according to claim 3, wherein determining an initial encoding mode for encoding the image to be transmitted based on the quantity information comprises:

and when the quantity information is multiple, determining that an initial coding mode for coding the image to be transmitted is an H.265 coding mode.

8. The method of claim 1,

the target encoding mode corresponds to an image decoding mode having the highest decoding capability among at least one of the image decoding modes.

9. The method of claim 8, wherein when the number of the at least one terminal device is one, said determining a target encoding mode according to the at least one image decoding mode comprises:

determining a target decoding mode with the highest decoding capability corresponding to the terminal equipment in at least one image decoding mode;

and determining a target encoding mode for encoding the image according to the target decoding mode.

10. The method of claim 1,

the target encoding mode corresponds to an image decoding mode having the lowest decoding capability among at least one of the image decoding modes.

11. The method according to claim 10, wherein when the number of the at least one terminal device is plural, said determining a target encoding mode according to the at least one image decoding mode comprises:

determining a target decoding mode with the lowest decoding capability corresponding to at least one terminal device in at least one image decoding mode;

and determining a target encoding mode for encoding the image according to the target decoding mode.

12. The method according to claim 9 or 11, characterized in that the method further comprises:

detecting whether the target decoding mode is updated;

and when the target decoding mode is updated, updating the target coding mode according to the updated target decoding mode.

13. The method according to any one of claims 1-11, wherein before encoding the image to be transmitted using the target encoding mode, the method further comprises:

acquiring an initial coding mode for coding an image to be transmitted;

when the initial coding mode is different from the target coding mode, adjusting the coding mode of the movable platform from the initial coding mode to the target coding mode.

14. The method according to any one of claims 1-11, further comprising:

acquiring a target coding instruction sent by at least one terminal device;

and determining a target coding mode for coding the image to be transmitted according to the target coding instruction.

15. The method according to claim 14, wherein after determining a target encoding mode for encoding the image to be transmitted according to the target encoding instruction, the method further comprises:

detecting whether the target coding mode is the same as the current coding mode;

and when the target coding mode is different from the current coding mode, switching the coding mode of the movable platform from the current coding mode to the target coding mode.

16. The method of any one of claims 1-11, wherein an image capture device is disposed on the movable platform, the method further comprising:

and acquiring the image to be transmitted acquired by the image acquisition equipment.

17. The method according to any one of claims 1 to 11, wherein the sending the graph transport stream data to at least one of the terminal devices comprises:

acquiring image frame data corresponding to the image transmission code stream data;

and inserting preset frame segmentation characters into the image frame data, and sending the image transmission code stream data into which the frame segmentation characters are inserted to at least one terminal device according to frames.

18. The method of claim 17, wherein the inserting of the preset frame segmentation characters in the image frame data comprises:

and inserting preset frame segmentation characters into the frame head position and/or the frame tail position in the image frame data.

19. An image transmission method is applied to a terminal device, and comprises the following steps:

acquiring image transmission code stream data to be identified;

determining a target coding mode corresponding to the image transmission code stream data;

determining an image decoding mode corresponding to the image transmission code stream data based on the target coding mode;

and when the terminal equipment supports the image decoding mode, decoding the image transmission code stream data by using the image decoding mode to obtain image information corresponding to the image transmission code stream data.

20. The method of claim 19, wherein determining the target coding mode corresponding to the graph code stream data comprises:

acquiring frame header information of the image transmission code stream data;

and determining a target coding mode corresponding to the image transmission code stream data according to the frame header information.

21. The method of claim 20, wherein the header information of the graphics stream data comprises at least the first five bytes of information of the graphics stream data.

22. The method of claim 21, wherein before determining the target coding mode corresponding to the graphics stream data according to the frame header information, the method further comprises:

and determining whether the image transmission code stream data is valid data according to the first four bytes included in the frame header information.

23. The method of claim 22, wherein determining whether the graph code stream data is valid data according to first four bytes included in the frame header information comprises:

when the first four byte information are preset standard information, determining the image transmission code stream data as effective data; alternatively, the first and second electrodes may be,

and when the first four byte information are not preset standard information, determining that the image transmission code stream data are invalid data.

24. The method of claim 21, wherein the target coding modes include an h.264 coding mode and an h.265 coding mode; determining a target coding mode corresponding to the image transmission code stream data according to the frame header information, wherein the target coding mode comprises the following steps:

when the fifth byte information in the frame header information is an odd number, determining that a target coding mode corresponding to the image transmission code stream data is an H.264 coding mode; alternatively, the first and second electrodes may be,

when the fifth byte information in the frame header information is an even number and the value of the fifth byte information is a first preset value, determining that a target coding mode corresponding to the image transmission code stream data is an H.264 coding mode; alternatively, the first and second electrodes may be,

and when the fifth byte information in the frame header information is an even number and the numerical value of the fifth byte information is not a first preset threshold value, determining that the target coding mode corresponding to the image transmission code stream data is an H.265 coding mode.

25. The method of claim 19, wherein determining the target coding mode corresponding to the graph code stream data comprises:

acquiring frame tail information of the image transmission code stream data;

and determining a target coding mode corresponding to the image transmission code stream data according to the frame tail information.

26. The method of claim 25, wherein before obtaining end-of-frame information for the graphics stream data, the method further comprises:

acquiring the first four bytes of information of the graph transmission code stream data;

when the first four byte information are preset standard information, determining the image transmission code stream data as effective data; alternatively, the first and second electrodes may be,

and when the first four byte information are not preset standard information, determining that the image transmission code stream data are invalid data.

27. The method of claim 25, wherein the end-of-frame information of the graphics stream data comprises at least the last six bytes of information of the graphics stream data.

28. The method of claim 27, wherein the image coding modes include an h.264 coding mode and an h.265 coding mode; determining a target coding mode corresponding to the image transmission code stream data according to the frame tail information, wherein the target coding mode comprises the following steps:

when the value of the first five byte information in the last six byte information in the frame tail information is a second preset value, determining that a target coding mode corresponding to the image transmission code stream data is an H.264 coding mode; alternatively, the first and second electrodes may be,

and when the value of the last six bytes of information in the frame tail information is a third preset value, determining that the target coding mode corresponding to the image transmission code stream data is an H.265 coding mode.

29. The method according to any one of claims 19-28, further comprising:

and when the terminal equipment does not support the image decoding mode, discarding the image transmission code stream data and sending feedback information to the movable platform.

30. The method of any of claims 19-28, wherein after determining the target encoding mode corresponding to the graph codestream data, the method further comprises:

detecting whether the target coding mode is updated;

and after the target coding mode is updated, updating the image decoding mode based on the updated target coding mode.

31. The method of claim 30, wherein after updating the image decoding mode based on the updated target encoding mode, the method further comprises:

when the terminal equipment does not support the updated image decoding mode, discarding the image transmission code stream data and sending feedback information to the movable platform; alternatively, the first and second electrodes may be,

and when the terminal equipment supports the updated image decoding mode, decoding the image transmission code stream data by using the updated image decoding mode.

32. A movable platform, comprising:

a first memory for storing a computer program;

a first processor for executing a computer program stored in the first memory to implement:

acquiring at least one image decoding mode of at least one terminal device;

determining a target coding mode according to at least one image decoding mode in a plurality of preset coding modes;

coding the image to be transmitted by using the target coding mode to obtain image transmission code stream data corresponding to the image to be transmitted;

and sending the graph transmission code stream data to at least one terminal device.

33. The movable platform of claim 32, wherein when the first processor obtains at least one image decoding mode for at least one terminal device, the first processor is configured to:

and acquiring at least one image decoding mode sent by at least one terminal device after the communication connection is established between the movable platform and the terminal device.

34. The movable platform of claim 32, wherein the first processor is further configured to:

determining the quantity information of the terminal equipment which establishes communication connection with the movable platform;

and determining an initial coding mode for coding the image to be transmitted based on the quantity information.

35. The movable platform of claim 34, wherein when the first processor determines an initial encoding mode for encoding the image to be transmitted based on the quantity information, the first processor is configured to:

and when the quantity information is one, determining that an initial coding mode for coding the image to be transmitted is a historical coding mode recorded by the movable platform.

36. The movable platform of claim 35, wherein the historical encoding patterns recorded by the movable platform comprise encoding patterns used by the movable platform prior to shutdown.

37. The movable platform of claim 35, wherein the historical encoding patterns recorded by the movable platform comprise encoding patterns recorded by the movable platform that are associated with the terminal device.

38. The movable platform of claim 34, wherein when the first processor determines an initial encoding mode for encoding the image to be transmitted based on the quantity information, the first processor is configured to:

and when the quantity information is multiple, determining that an initial coding mode for coding the image to be transmitted is an H.265 coding mode.

39. The movable platform of claim 32,

the target encoding mode corresponds to an image decoding mode having the highest decoding capability among at least one of the image decoding modes.

40. The movable platform of claim 39, wherein the number of at least one of the terminal devices is one, and wherein when the first processor determines a target encoding mode based on at least one of the image decoding modes, the first processor is further configured to:

determining a target decoding mode with the highest decoding capability corresponding to the terminal equipment in at least one image decoding mode;

and determining a target encoding mode for encoding the image according to the target decoding mode.

41. The movable platform of claim 32,

the target encoding mode corresponds to an image decoding mode having the lowest decoding capability among at least one of the image decoding modes.

42. The movable platform of claim 41, wherein the number of at least one of the terminal devices is plural, and when the first processor determines a target encoding mode according to at least one of the image decoding modes, the first processor is further configured to:

determining a target decoding mode with the lowest decoding capability corresponding to at least one terminal device in at least one image decoding mode;

and determining a target encoding mode for encoding the image according to the target decoding mode.

43. The movable platform of claim 40 or 42, wherein the first processor is further configured to:

detecting whether the target decoding mode is updated;

and when the target decoding mode is updated, updating the target coding mode according to the updated target decoding mode.

44. The movable platform of any one of claims 32-42, wherein prior to encoding the image to be transmitted using the target encoding mode, the first processor is further configured to:

acquiring an initial coding mode for coding an image to be transmitted;

when the initial coding mode is different from the target coding mode, adjusting the coding mode of the movable platform from the initial coding mode to the target coding mode.

45. The movable platform of any one of claims 32-42, wherein the first processor is further configured to:

acquiring a target coding instruction sent by at least one terminal device;

and determining a target coding mode for coding the image to be transmitted according to the target coding instruction.

46. The movable platform of claim 45, wherein after determining a target encoding mode for encoding the image to be transmitted according to the target encoding instruction, the first processor is further configured to:

detecting whether the target coding mode is the same as the current coding mode;

and when the target coding mode is different from the current coding mode, switching the coding mode of the movable platform from the current coding mode to the target coding mode.

47. The movable platform of any one of claims 32-42, wherein the movable platform has an image capture device disposed thereon, and wherein the first processor is further configured to:

and acquiring the image to be transmitted acquired by the image acquisition equipment.

48. The movable platform of any one of claims 32-42, wherein when the first processor sends the graph code stream data to at least one of the terminal devices, the first processor is configured to:

acquiring image frame data corresponding to the image transmission code stream data;

49. The movable platform of claim 48, wherein, when the first processor inserts a preset frame segmentation character in the image frame data, the first processor is configured to:

and inserting preset frame segmentation characters into the frame head position and/or the frame tail position in the image frame data.

50. A terminal device, comprising:

a second memory for storing a computer program;

a second processor for executing the computer program stored in the second memory to implement:

acquiring image transmission code stream data to be identified;

determining a target coding mode corresponding to the image transmission code stream data;

determining an image decoding mode corresponding to the image transmission code stream data based on the target coding mode;

51. The terminal device of claim 50, wherein when the second processor determines a target coding mode corresponding to the graph code stream data, the second processor is configured to:

acquiring frame header information of the image transmission code stream data;

and determining a target coding mode corresponding to the image transmission code stream data according to the frame header information.

52. The terminal device of claim 51, wherein the header information of the graphics stream data comprises at least the first five bytes of information of the graphics stream data.

53. The terminal device of claim 52, wherein before determining the target coding mode corresponding to the graphics stream data according to the frame header information, the second processor is configured to:

and determining whether the image transmission code stream data is valid data according to the first four bytes included in the frame header information.

54. The terminal device of claim 53, wherein when the second processor determines whether the graphics stream data is valid data according to first four bytes included in the frame header information, the second processor is configured to:

when the first four byte information are preset standard information, determining the image transmission code stream data as effective data; alternatively, the first and second electrodes may be,

and when the first four byte information are not preset standard information, determining that the image transmission code stream data are invalid data.

55. The terminal device of claim 52, wherein the target coding mode comprises an H.264 coding mode and an H.265 coding mode; when the second processor determines the target coding mode corresponding to the image transmission code stream data according to the frame header information, the second processor is configured to:

56. The terminal device of claim 50, wherein when the second processor determines a target coding mode corresponding to the graph code stream data, the second processor is configured to:

acquiring frame tail information of the image transmission code stream data;

and determining a target coding mode corresponding to the image transmission code stream data according to the frame tail information.

57. The terminal device of claim 56, wherein before obtaining end-of-frame information of the graphics stream data, the second processor is further configured to:

acquiring the first four bytes of information of the graph transmission code stream data;

when the first four byte information are preset standard information, determining the image transmission code stream data as effective data; alternatively, the first and second electrodes may be,

and when the first four byte information are not preset standard information, determining that the image transmission code stream data are invalid data.

58. The terminal device of claim 56, wherein the end-of-frame information of the graphics stream data comprises at least the last six bytes of information of the graphics stream data.

59. The terminal device of claim 58, wherein the image coding modes comprise an H.264 coding mode and an H.265 coding mode; when the second processor determines the target coding mode corresponding to the image transmission code stream data according to the frame tail information, the second processor is further configured to:

60. The terminal device of any one of claims 50-59, wherein the second processor is further configured to:

and when the terminal equipment does not support the image decoding mode, discarding the image transmission code stream data and sending feedback information to the movable platform.

61. The terminal device according to any one of claims 50-59, wherein after determining the target coding mode corresponding to the graph code stream data, the second processor is further configured to:

detecting whether the target coding mode is updated;

and after the target coding mode is updated, updating the image decoding mode based on the updated target coding mode.

62. The terminal device of claim 61, wherein after updating the image decoding mode based on the updated target encoding mode, the second processor is further configured to:

and when the terminal equipment supports the updated image decoding mode, decoding the image transmission code stream data by using the updated image decoding mode.

63. An image transmission system, comprising:

the movable platform of any one of claims 32-49;

the terminal device of any one of claims 50-62, communicatively coupled to the movable platform.

64. A computer-readable storage medium, characterized in that the storage medium is a computer-readable storage medium in which program instructions for implementing the image transmission method according to any one of claims 1 to 18 are stored.

65. A computer-readable storage medium, characterized in that the storage medium is a computer-readable storage medium in which program instructions for implementing the image transmission method according to any one of claims 19 to 31 are stored.

Technical Field

The embodiment of the invention relates to the technical field of movable platforms, in particular to an image transmission method, image transmission equipment, a movable platform, an image transmission system and a storage medium.

Background

With the rapid development of science and technology, the application field of the movable platform is more and more extensive, for example, an aircraft represented by an unmanned aerial vehicle can assist in operations such as professional aerial photography, agricultural irrigation, electric power line patrol, public security monitoring and the like. In the process of using the unmanned aerial vehicle to carry out flight operation, wireless image transmission operation is often carried out, and the existing method applied to the unmanned aerial vehicle to carry out image transmission mainly realizes video encoding and decoding operation through the H.264 encoding and decoding standard.

With the development of hardware processors, the image-based technology of the drone is developing to an application scenario with high resolution and high frame rate, and the drone may be loaded with a processor with stronger processing capability, so as to start to support higher standard video coding capability, for example: the video coding standard of h.265 is supported. However, the processing capability or decoding capability of a plurality of mobile terminal devices connected with the unmanned aerial vehicle, such as a remote controller, a mobile phone, a tablet, and the like, cannot support a higher video encoding and decoding standard, which results in that the development of the unmanned aerial vehicle and the unmanned aerial vehicle image transmission technology cannot be well matched with the capability of the existing mobile terminal devices connected with the remote controller, the mobile phone, a platform, and the like, so that the unmanned aerial vehicle image transmission cannot obtain a good effect, and the problems of transmission jam, transmission incapability, and the like are caused. Therefore, it is necessary to provide an image transmission method applied to an unmanned aerial vehicle to improve the effect and quality of image transmission of the unmanned aerial vehicle.

Disclosure of Invention

The embodiment of the invention provides an image transmission method, image transmission equipment, a movable platform, an image transmission system and a storage medium, which are used for solving the problems of transmission jam, transmission incapability and the like caused by unmatched image transmission technologies in the prior art, so that the quality and the effect of image transmission are ensured.

A first aspect of the present invention is to provide an image transmission method applied to a movable platform, the method including:

acquiring at least one image decoding mode of at least one terminal device;

determining a target coding mode according to at least one image decoding mode in a plurality of preset coding modes;

coding the image to be transmitted by using the target coding mode to obtain image transmission code stream data corresponding to the image to be transmitted;

and sending the graph transmission code stream data to at least one terminal device.

A second aspect of the present invention is to provide an image transmission method applied to a terminal device, the method including:

acquiring image transmission code stream data to be identified;

determining a target coding mode corresponding to the image transmission code stream data;

determining an image decoding mode corresponding to the image transmission code stream data based on the target coding mode;

A third aspect of the present invention is to provide a movable platform, comprising:

a first memory for storing a computer program;

a first processor for executing a computer program stored in the first memory to implement:

acquiring at least one image decoding mode of at least one terminal device;

determining a target coding mode according to at least one image decoding mode in a plurality of preset coding modes;

coding the image to be transmitted by using the target coding mode to obtain image transmission code stream data corresponding to the image to be transmitted;

and sending the graph transmission code stream data to at least one terminal device.

A fourth aspect of the present invention is to provide a terminal device, including:

a second memory for storing a computer program;

a second processor for executing the computer program stored in the second memory to implement:

acquiring image transmission code stream data to be identified;

determining a target coding mode corresponding to the image transmission code stream data;

determining an image decoding mode corresponding to the image transmission code stream data based on the target coding mode;

A fifth aspect of the present invention is to provide an image transmission system, comprising:

the movable platform of the third aspect above;

the terminal device according to the fourth aspect, wherein the terminal device is communicatively connected to the movable platform.

A sixth aspect of the present invention is to provide a computer-readable storage medium, which is a computer-readable storage medium having stored therein program instructions for the image transmission method according to the first aspect.

A seventh aspect of the present invention is to provide a computer-readable storage medium, which is a computer-readable storage medium having stored therein program instructions for the image transmission method according to the second aspect.

According to the image transmission method, the image transmission equipment, the movable platform, the image transmission system and the storage medium, the target coding mode is determined according to the at least one image decoding mode in the plurality of preset coding modes by obtaining the at least one image decoding mode of the at least one terminal equipment, then the image to be transmitted can be coded by the target coding mode, the image transmission code stream data corresponding to the image to be transmitted is obtained, and the image transmission code stream data can be sent to the at least one terminal equipment, so that the image transmission capacity matching between the movable platform and the terminal equipment is realized, the problems that the image is jammed in transmission and cannot be transmitted in the transmission process are avoided, the quality and the stability of image transmission are ensured, and the stability and the reliability of the method are further improved.

Drawings

The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:

fig. 1 is a schematic diagram of a first principle of image transmission according to an embodiment of the present invention;

FIG. 2 is a schematic diagram of a second principle of image transmission according to an embodiment of the present invention;

fig. 3 is a first flowchart illustrating an image transmission method according to an embodiment of the present invention;

fig. 4 is a flowchart illustrating a second image transmission method according to an embodiment of the present invention;

fig. 5 is a third schematic flowchart of an image transmission method according to an embodiment of the present invention;

fig. 6 is a fourth schematic flowchart of an image transmission method according to an embodiment of the present invention;

fig. 7 is a fifth flowchart illustrating an image transmission method according to an embodiment of the present invention;

fig. 8 is a first flowchart illustrating another image transmission method according to an embodiment of the present invention;

fig. 9 is a schematic diagram of a syntax structure corresponding to an h.264 coding mode according to an embodiment of the present invention;

fig. 10 is a schematic diagram of a syntax structure corresponding to an h.265 coding mode according to an embodiment of the present invention;

fig. 11 is a first flowchart illustrating a process of determining a target encoding mode corresponding to the graph code stream data according to the embodiment of the present invention;

fig. 12 is a schematic flowchart of a second process for determining a target encoding mode corresponding to the graph transport stream data according to the embodiment of the present invention;

fig. 13 is a third schematic flowchart of determining a target encoding mode corresponding to the graph code stream data according to the embodiment of the present invention;

fig. 14 is a fourth schematic flowchart of determining a target encoding mode corresponding to the graph code stream data according to the embodiment of the present invention;

fig. 15 is a flowchart illustrating another image transmission method according to another embodiment of the present invention;

fig. 16 is a schematic structural diagram of a movable platform according to an embodiment of the present invention;

fig. 17 is a schematic structural diagram of a terminal device according to an embodiment of the present invention;

fig. 18 is a schematic structural diagram of an image transmission system according to an embodiment of the present invention;

fig. 19 is a first scene schematic diagram of an image transmission system according to an embodiment of the present invention;

fig. 20 is a second scene schematic diagram of an image transmission system according to an embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.

Definition of terms:

image coding: this is a technique of expressing an image or information included in an image with a small number of bits under a condition that a certain quality (a signal-to-noise ratio requirement or a subjective evaluation score) is satisfied.

And (3) image decoding: the method is an inverse process of image coding, namely a technology for restoring bit numbers into images or information contained in the images.

Image coding mode: the method refers to a coding standard which is accorded with an image coding technology when the image coding technology is used for coding an image; for example, when the image coding technique conforms to the international standard of h.264, the image coding mode may be determined to be the h.264 coding mode; when the image coding technique conforms to the international standard of h.265, the image coding mode can be determined to be the h.265 coding mode.

Image decoding mode: the decoding standard is the decoding standard which is accorded with the image decoding technology when the image decoding technology is used for decoding the image; for example, when the image decoding technology conforms to the international standard of h.264, the image decoding mode may be determined to be the h.264 decoding mode; when the image decoding technique conforms to the international standard of h.265, it can be determined that the image decoding mode is the h.265 decoding mode.

In order to facilitate understanding of the image transmission method in the present embodiment, the following describes an implementation principle of image transmission:

referring to fig. 1, an implementation process of sending an Image by an Image transmission system is provided, and specifically, the Image transmission system may include a camera sensor, an Image Signal processing module, an Image coding module, and a wireless transmission module, where the camera sensor is configured to collect an Image, send the collected Image to an Image Signal Processing (ISP) module for processing through a Mobile Industry Processor Interface (MIPI) so as to obtain Image frame data, and then the ISP module transmits the processed Image frame data to an Image coder for coding, so as to obtain a coding code stream corresponding to the Image frame data. The coded code stream is packaged into image transmission code stream data through a wireless transmission module, and then the image transmission code stream data can be transmitted through a radio frequency antenna, so that stable and effective wireless transmission of images is realized.

Further, referring to fig. 2, an implementation process of receiving an image by an image transmission system is provided, specifically, the image transmission system may include a wireless transmission module, an image decoding module, a display driving module, and a display, where the wireless transmission module is configured to receive transmitted image transmission stream data, and may perform decapsulation processing on the image transmission stream data to obtain an encoded stream; and then the coded code stream is transmitted to an image decoding module for decoding processing, so that an image frame corresponding to the coded code stream can be obtained, the image frame is transmitted to a display driving module, the display driving module can be connected with a display through an MIPI interface, and the image frame can be displayed on the display through the display driving module, so that stable and effective wireless receiving of the image is realized.

In the process of encoding and decoding the image, the decoding mode of the image corresponds to the encoding mode of the image, so that the quality and efficiency of decoding the image can be ensured; if the decoding mode of the image does not correspond to the encoding mode of the image, the quality and efficiency of the decoding operation performed on the image cannot be guaranteed. For example: the unmanned aerial vehicle can support the encoding standard of h.265, however, the processing capability or the decoding capability of the remote controller, the mobile phone, the tablet and other mobile terminal devices connected with the unmanned aerial vehicle do not support the encoding standard of h.265, at this time, the decoding mode of the image does not correspond to the encoding mode of the image, so that the image transmission cannot achieve a good effect, and even the problems of image transmission jam, incapability of transmission and the like may be caused.

Some embodiments of the invention are described in detail below with reference to the accompanying drawings. The features of the embodiments and examples described below may be combined with each other without conflict between the embodiments.

Fig. 3 is a first flowchart illustrating an image transmission method according to an embodiment of the present invention; referring to fig. 3, the present embodiment provides an image transmission method that may be applied to a movable platform, which may refer to any device capable of moving, wherein the movable platform may include, but is not limited to, land vehicles, water vehicles, air vehicles, and other types of motor vehicles. For illustrative purposes, the movable platform may include a drone, an unmanned ship, and/or an unmanned ship, among others. Specifically, the method may include:

s301: at least one image decoding mode of at least one terminal device is obtained.

S302: in a plurality of preset coding modes, a target coding mode is determined according to at least one image decoding mode.

S303: and coding the image to be transmitted by using the target coding mode to obtain image transmission code stream data corresponding to the image to be transmitted.

S304: and sending the image transmission code stream data to at least one terminal device.

The following is detailed for the above steps:

s301: at least one image decoding mode of at least one terminal device is obtained.

The number of the terminal devices can be one or more, and when the number of the terminal devices is one, at least one image decoding mode corresponding to the terminal device can be acquired; when the number of the terminal devices is multiple, multiple image decoding modes corresponding to the multiple terminal devices may be obtained, and it is understood that the image decoding modes of different terminal devices may be the same or different.

In some examples, the image decoding mode is the highest image decoding mode that the terminal device can support, for example: when the terminal device can support the h.264 image decoding mode and the h.265 image decoding mode, at this time, the terminal device can transmit the highest image decoding mode h.265 decoding mode that the terminal device can support to the mobile platform without transmitting the h.264 image decoding mode. Specifically, when the number of the terminal devices is one, an image decoding mode corresponding to the terminal device can be obtained; when the number of the terminal devices is multiple, multiple image decoding modes corresponding to the terminal devices can be obtained; the above-mentioned image decoding mode is the highest image decoding mode that the terminal device can support.

In some examples, obtaining at least one image decoding mode of at least one terminal device in this embodiment may include: and acquiring at least one image decoding mode sent by at least one terminal device after the communication connection is established between the movable platform and the terminal device.

Specifically, after the communication connection is established between the movable platform and the at least one terminal device, the movable platform may actively acquire the at least one image decoding mode of the at least one terminal device, specifically, the movable platform may send a decoding mode acquisition request to the at least one terminal device, and after the terminal device arrives at the decoding mode acquisition request, the movable platform may send the at least one image decoding mode to the movable platform based on the decoding mode acquisition request. Or after the communication connection is established between the movable platform and the at least one terminal device, the terminal device may actively transmit the at least one image decoding mode to the movable platform, and at this time, the movable platform may receive the at least one image decoding mode transmitted by the at least one terminal device.

S302: in a plurality of preset coding modes, a target coding mode is determined according to at least one image decoding mode.

For a movable platform, it may support a plurality of preset encoding modes, which may include: h.264 coding mode, h.265 coding mode, etc. After the at least one image decoding mode is acquired, the at least one image decoding mode may be analyzed, and a target encoding mode may be determined among a plurality of preset encoding modes based on a result of the analysis. In some examples, the target encoding mode corresponds to an image decoding mode having a highest decoding capability of the at least one image decoding mode.

Specifically, when the number of the at least one terminal device is one, determining a target encoding mode according to the at least one image decoding mode may include:

s3021: in at least one image decoding mode, a target decoding mode having the highest decoding capability corresponding to the terminal device is determined.

S3022: and determining a target encoding mode for encoding the image according to the target decoding mode.

For example, taking the drone as a movable platform, the multiple preset encoding modes that the drone can support include an h.264 encoding mode and an h.265 encoding mode; at this time, a terminal device is connected with the unmanned aerial vehicle, and the at least one image decoding mode which can be supported by the terminal device comprises an H.264 decoding mode and an H.265 decoding mode; at this time, the terminal device may send the supported h.264 decoding mode and h.265 decoding mode to the drone, and after the drone receives the h.264 decoding mode and the h.265 decoding mode, the drone may determine that a target decoding mode with the highest decoding capability corresponding to the terminal device is the h.265 decoding mode, and then may determine that a target encoding mode for encoding the image is the h.265 encoding mode according to the h.265 decoding mode. Therefore, when the number of the at least one terminal device is one, a target coding mode can be determined according to the at least one image decoding mode of the terminal device, and the target coding mode corresponds to the image decoding mode with the highest decoding capability in the at least one image decoding mode.

In this embodiment, when the number of the at least one terminal device is one, a target encoding mode is determined by the at least one image decoding mode of the terminal device, and the target encoding mode corresponds to an image decoding mode with the highest decoding capability in the at least one image decoding mode, so that the quality and efficiency of image encoding and decoding are effectively improved.

In other examples, the target encoding mode corresponds to an image decoding mode having a lowest decoding capability of the at least one image decoding mode.

Specifically, when the number of the at least one terminal device is multiple, determining a target encoding mode according to the at least one image decoding mode may include:

s3023: in the at least one image decoding mode, a target decoding mode having a lowest decoding capability corresponding to the at least one terminal device is determined.

S3024: and determining a target encoding mode for encoding the image according to the target decoding mode.

For example, taking the drone as a movable platform, the multiple preset encoding modes that the drone can support include an h.264 encoding mode and an h.265 encoding mode; at this time, a plurality of terminal devices are connected with the drone, for example, the terminal devices include a terminal device a, a terminal device B, and a terminal device C, where the image decoding modes that the terminal device a can support include an h.264 decoding mode, the image decoding modes that the terminal device B can support include an h.264 decoding mode and an h.265 decoding mode, and the image decoding modes that the terminal device C can support include an h.265 code mode; at this time, each of the terminal devices may send a decoding mode that can be supported by each terminal device to the drone, and after the drone receives at least one image decoding mode sent by the plurality of terminal devices, the drone may determine that a target decoding mode with the lowest decoding capability corresponding to the at least one terminal device is an h.264 decoding mode, and then may determine that a target encoding mode for encoding an image is an h.264 encoding mode according to the h.264 decoding mode. Therefore, when the number of the at least one terminal device is multiple, a target coding mode can be determined according to at least one image decoding mode of the multiple terminal devices, and the target coding mode corresponds to the image decoding mode with the lowest decoding capability in the at least one image decoding mode.

In this embodiment, when the number of the at least one terminal device is multiple, a target encoding mode is determined by the at least one image decoding mode of the multiple terminal devices, and the target encoding mode corresponds to an image decoding mode with the lowest decoding capability in the at least one image decoding mode, so that the multiple terminal devices can effectively decode image data encoded by the target encoding mode, and meanwhile, the quality and efficiency of image decoding are ensured, and the practicability of the method is further improved.

S303: and coding the image to be transmitted by using the target coding mode to obtain image transmission code stream data corresponding to the image to be transmitted.

After the target coding mode is obtained, the image to be transmitted can be coded by using the target coding mode, so that image transmission code stream data corresponding to the image to be transmitted can be obtained. It should be noted that the image to be transmitted may be an image acquired by image acquisition equipment, specifically, the movable platform may be provided with the image acquisition equipment, and after the image acquisition equipment acquires the image, the image may be transmitted to the movable platform in real time, so that the movable platform may acquire the image to be transmitted acquired by the image acquisition equipment.

S304: and sending the image transmission code stream data to at least one terminal device.

After the graph transmission stream data is acquired, the graph transmission stream data may be sent to at least one terminal device, and in some examples, sending the graph transmission stream data to the at least one terminal device may include:

s3041: and acquiring image frame data corresponding to the image transmission code stream data.

S3042: and inserting preset frame segmentation characters into the image frame data, and sending the image transmission code stream data into which the frame segmentation characters are inserted to at least one terminal device according to frames.

In some examples, inserting the preset frame segmentation character in the image frame data may include: and inserting preset frame segmentation characters at the frame head position and/or the frame tail position in the image frame data.

After the image transmission code stream data is acquired, the image transmission code stream data can be analyzed and processed, so that image frame data corresponding to the image transmission code stream data is acquired. After the image frame data is acquired, in order to facilitate the terminal device to recognize each image frame data corresponding to the image transmission code stream data, a preset frame segmentation character may be inserted into the image frame data, specifically, a preset frame segmentation character may be inserted into a frame header position and/or a frame tail position in the image frame data, and then the image transmission code stream data into which the frame segmentation character is inserted may be sent to at least one terminal device by frame. After the terminal equipment receives the image transmission code stream data, the data of each image frame can be identified based on the frame segmentation characters, and the image transmission code stream data can be decoded, so that the process of wirelessly transmitting the image to be transmitted to the terminal equipment from the movable platform is realized.

According to the image transmission method provided by the embodiment, at least one image decoding mode of at least one terminal device is obtained, a target coding mode is determined according to the at least one image decoding mode in a plurality of preset coding modes, then the target coding mode can be utilized to carry out coding processing on an image to be transmitted, image transmission code stream data corresponding to the image to be transmitted are obtained, and the image transmission code stream data can be sent to the at least one terminal device, so that matching of image transmission capacity between a movable platform and the terminal device is achieved, the problems that the image is jammed in transmission and cannot be transmitted in the transmission process are avoided, quality and stability of image transmission are guaranteed, and stability and reliability of the method are further improved.

Fig. 4 is a flowchart illustrating a second image transmission method according to an embodiment of the present invention; on the basis of the foregoing embodiment, with continuing reference to fig. 4, before encoding the image to be transmitted by using the target encoding mode, the method in this embodiment may further include:

s401: and acquiring an initial coding mode for coding the image to be transmitted.

S402: and when the initial coding mode is different from the target coding mode, adjusting the coding mode of the movable platform from the initial coding mode to the target coding mode.

Before the image to be transmitted is coded by using the target coding mode, an initial coding mode used for coding the image to be transmitted on the movable platform can be identified, wherein the initial coding mode can be a pre-configured coding mode or a historical coding mode; after the initial coding mode is obtained, the initial coding mode may be analyzed and compared with the target coding mode. If the initial coding mode is the same as the target coding mode, the target coding mode can be directly utilized to carry out coding processing on the image to be transmitted; if the initial coding mode is different from the target coding mode, the coding mode of the movable platform can be adjusted from the initial coding mode to the target coding mode, so that the image to be transmitted can be coded by using the target coding mode.

For example, the movable platform may acquire that the initial encoding mode used for encoding the image to be transmitted is an h.264 encoding mode, and when the target encoding mode is an h.265 encoding mode, and the initial encoding mode is different from the target encoding mode, the encoding mode of the movable platform may be adjusted from the h.264 encoding mode to the h.265 encoding mode, so as to implement encoding the image to be transmitted by using the h.265 encoding mode. Or, when the target encoding mode is the h.264 encoding mode, the initial encoding mode at this time is the same as the target encoding mode, and further, the h.264 encoding mode can be directly utilized to encode the image to be transmitted.

In some examples, when acquiring an initial encoding mode for encoding an image to be transmitted, the initial encoding mode may be determined by acquiring information on the number of terminal devices that establish communication connection with the movable platform; specifically, as shown in fig. 5, the method in this embodiment may further include:

s501: and determining the quantity information of the terminal equipment which establishes communication connection with the movable platform.

S502: an initial encoding mode for encoding processing of an image to be transmitted is determined based on the quantity information.

After the communication connection is established between the movable platform and the terminal device, the movable platform may count number information of the terminal device that establishes the communication connection with the movable platform, and then may determine an initial encoding mode for encoding the image to be transmitted according to the number information of the terminal device, and in some examples, determining the initial encoding mode for encoding the image to be transmitted based on the number information may include:

s5021: and when the quantity information is one, determining that the initial coding mode for coding the image to be transmitted is a historical coding mode recorded by the movable platform.

In some examples, when the number of the terminal devices is one, the initial encoding mode for encoding the image to be transmitted may be determined to be a historical encoding mode recorded by the movable platform, wherein the historical encoding mode recorded by the movable platform may include an encoding mode used by the movable platform before shutdown. For example, when the historical encoding mode recorded before the last shutdown of the mobile platform is the h.264 encoding mode, then, when there is one terminal device establishing communication connection with the mobile platform, it may be determined that the initial encoding mode used for encoding the image to be transmitted is the h.264 encoding mode; when the historical encoding mode recorded before the last shutdown of the movable platform is the h.265 encoding mode, then, when there is one terminal device establishing communication connection with the movable platform, it may be determined that the initial encoding mode used for encoding the image to be transmitted is the h.265 encoding mode.

In other examples, the historical encoding patterns recorded by the movable platform may include encoding patterns recorded by the movable platform that are associated with the terminal device.

For example, when the encoding mode associated with the terminal device recorded by the movable platform is the h.264 encoding mode, then, when there is one terminal device establishing a communication connection with the movable platform, it may be determined that the initial encoding mode used for encoding the image to be transmitted is the h.264 encoding mode; when the encoding mode associated with the terminal device recorded by the movable platform is the h.265 encoding mode, then, when there is one terminal device establishing a communication connection with the movable platform, it may be determined that the initial encoding mode for encoding the image to be transmitted is the h.265 encoding mode.

In some other examples, determining the initial encoding mode for encoding the image to be transmitted based on the quantity information includes:

s5022: when the quantity information is multiple, the initial coding mode used for coding the image to be transmitted is determined to be the H.265 coding mode.

After the communication connection is established between the movable platform and the terminal equipment, the movable platform can count the number information of the terminal equipment establishing the communication connection with the movable platform, and when the number information of the terminal equipment is multiple, the initial coding mode for coding the image to be transmitted can be determined to be the H.265 coding mode according to the number information of the connected terminal equipment, and at the moment, the quality of coding the image to be transmitted by the movable platform can be ensured. It can be understood that, if a plurality of terminal devices include a terminal device that does not support the h.265 coding mode, the mobile platform may adjust the coding mode from the h.265 coding mode to the h.264 coding mode, thereby effectively ensuring that the image transmission capability between the mobile platform and the terminal device is matched, and further ensuring the quality and efficiency of image transmission.

Fig. 6 is a third schematic flowchart of an image transmission method according to an embodiment of the present invention; on the basis of the foregoing embodiment, with continued reference to fig. 6, the method in this embodiment may further include:

s601: detecting whether the target decoding mode is updated or not;

s602: and when the target decoding mode is updated, updating the target coding mode according to the updated target decoding mode.

In order to ensure stable reliability of image transmission, the movable platform may detect whether the target decoding mode corresponding to the terminal device is updated, and in particular, in some examples, the movable platform may detect whether the target decoding mode corresponding to the terminal device is updated according to a preset detection period. For example, the preset detection period is 15 min, 10 min, or 20 min, and then whether the target decoding mode corresponding to the terminal device is updated may be detected according to the detection period.

Alternatively, in other examples, the movable platform may detect the target decoding mode corresponding to the terminal device according to a change in the terminal device or a change in the number of terminal devices. For example, the movable platform is in communication connection with the terminal device a, the target decoding mode corresponding to the terminal device a is an h.264 decoding mode, after the terminal device a performs upgrade update/adjustment, the target decoding mode corresponding to the terminal device a may be adjusted from the h.264 decoding mode to an h.265 decoding mode, and at this time, the movable platform may detect whether the target decoding mode corresponding to the terminal device is updated according to a change of the terminal device. Or, in the initial state, the number of the terminal devices in communication connection with the movable platform is one; after a period of time, the number of terminal devices in communication connection with the movable platform is changed from one to multiple, and at this time, the movable platform can detect whether the target decoding mode corresponding to the terminal device is updated according to the change of the number of terminal devices.

When it is detected that the target decoding mode is updated, the target encoding mode may be updated according to the updated target decoding mode, for example: when the target decoding mode is updated from the h.264 decoding mode to the h.265 decoding mode, the target encoding mode, i.e., the h.264 encoding mode, may be updated to the h.265 encoding mode according to the updated h.265 decoding mode. Similarly, when the target decoding mode is updated from the h.265 decoding mode to the h.264 decoding mode, the target encoding mode, i.e., the h.265 encoding mode, may be updated to the h.264 encoding mode according to the updated h.264 decoding mode.

In the embodiment, in the process of image transmission, whether the target decoding mode is updated or not is detected, and when the target decoding mode is updated, the target coding mode is updated according to the updated target decoding mode, so that the image transmission capability matching of the movable platform and the terminal equipment is effectively realized, and the stability and the reliability of image transmission are further ensured.

Fig. 7 is a fifth flowchart illustrating an image transmission method according to an embodiment of the present invention; on the basis of the foregoing embodiment, with continued reference to fig. 6, the method in this embodiment may further include:

s701: and acquiring a target coding instruction sent by at least one terminal device.

S702: and determining a target coding mode for coding the image to be transmitted according to the target coding instruction.

Specifically, in the process that the movable platform determines the target coding mode, the movable platform may be in communication connection with at least one terminal device, and obtain a target coding instruction sent by the at least one terminal device, where the target coding instruction includes identification information of the target coding mode, and after receiving the target coding instruction, the movable platform may determine, according to the target coding instruction, a target coding mode for coding an image to be transmitted.

For example, when the mobile platform is connected with the terminal device a, the terminal device a may send a target coding instruction to the mobile platform, where the target coding instruction may include identification information that a target coding mode is an h.264 coding mode, and at this time, after the mobile platform receives the target coding instruction, it may be determined that the target coding mode for performing coding processing on the image to be transmitted is the H264 coding mode according to the target coding instruction.

Or when the mobile platform is connected with the terminal device a and the terminal device B, the terminal device a and the terminal device B may respectively send a target coding instruction a and a target coding instruction B to the mobile platform, where the target coding instruction a includes identification information that a target coding mode is an h.264 coding mode, and the target coding instruction B includes identification information that the target coding mode is an h.265 coding mode, and at this time, after the mobile platform receives the target coding instruction a and the target coding instruction B, the mobile platform may determine that the target coding mode is the h.264 coding mode for the target coding instruction a and the target coding instruction B, that is, the target coding mode is a coding mode with the lowest coding capability included in the target coding instruction a and the target coding instruction B.

Or when the movable platform is connected with the terminal device a and the terminal device B, the terminal device a may send the target coding instruction a to the terminal device B, the terminal device B may determine a target coding mode based on the coding mode included in the target coding instruction a and the coding mode of the terminal device B, and generate a target coding instruction based on the target coding mode, and then the terminal device B may send the target coding instruction after counting the coding modes of all the terminal devices to the movable platform, at this time, after the movable platform receives the target coding instruction, the target coding mode for coding the image to be transmitted may be determined according to the target coding instruction.

In the embodiment, the target coding mode for coding the image to be transmitted is determined according to the target coding instruction obtained from at least one terminal device, so that the target coding mode of the movable platform can be determined or adjusted through the terminal device, and the flexibility and reliability of determining the target coding mode are improved.

In some examples, after determining a target encoding mode for encoding an image to be transmitted according to the target encoding instruction, the method in this embodiment may further include:

s703: detecting whether the target coding mode is the same as the current coding mode;

s704: and when the target coding mode is different from the current coding mode, switching the coding mode of the movable platform from the current coding mode to the target coding mode.

Specifically, after the target encoding mode is determined, a current encoding mode used for encoding the image to be transmitted on the movable platform may be obtained first, where the current encoding mode may be a preset encoding mode or an encoding mode in use; after the current coding mode is obtained, the current coding mode and the target coding mode can be analyzed and compared, and if the current coding mode is the same as the target coding mode, the target coding mode can be directly utilized to code the image to be transmitted; if the current coding mode is different from the target coding mode, the coding mode of the movable platform can be adjusted from the current coding mode to the target coding mode, so that the purpose that the target coding mode can be utilized to code the image to be transmitted is achieved.

For example, when a target encoding mode for encoding an image to be transmitted is determined to be the h.265 encoding mode according to the target encoding instruction, if the current encoding mode of the obtained movable platform is the h.265 encoding mode, the current encoding mode is the same as the target encoding mode, and the image to be transmitted can be encoded by directly using the h.265 encoding mode. Or, if the current encoding mode of the obtained movable platform is the h.264 encoding mode and the current encoding mode is different from the target encoding mode, the encoding mode of the movable platform may be adjusted from the h.264 encoding mode to the h.265 encoding mode, so as to encode the image to be transmitted by using the h.265 encoding mode.

In this embodiment, whether the target encoding mode is the same as the current encoding mode is detected; when the target coding mode is different from the current coding mode, the coding mode of the movable platform is switched from the current coding mode to the target coding mode, so that the image transmission capability matching between the movable platform and the terminal equipment is effectively ensured, and the stability and the reliability of image transmission are further ensured.

Fig. 8 is a schematic flowchart of another image transmission method according to an embodiment of the present invention; referring to fig. 8, the present embodiment provides an image transmission method, which may be applied to a terminal device, and specifically, the method may include:

s801: and acquiring the data of the image transmission code stream to be identified.

S802: and determining a target coding mode corresponding to the data of the image transmission code stream.

S803: and determining an image decoding mode corresponding to the image transmission code stream data based on the target coding mode.

S804: and when the terminal equipment supports the image decoding mode, decoding the image transmission code stream data by using the image decoding mode to obtain image information corresponding to the image transmission code stream data.

After the mobile platform sends the graph-transmitted code stream data to the terminal device, the terminal device may acquire the graph-transmitted code stream data to be identified, may analyze and process the graph-transmitted code stream data, and may determine a target coding mode corresponding to the graph-transmitted code stream data according to an analysis processing result, where the target coding mode may be any one of coding modes such as an h.264 coding mode, an h.265 coding mode, and an AVC coding mode. After the target encoding mode is obtained, an image decoding mode corresponding to the image transmission code stream data can be determined based on the target encoding mode. It is understood that the target encoding mode corresponds to an image decoding mode, such as: when the target coding mode is the H.265 coding mode, the image decoding mode corresponds to the H.265 decoding mode; when the target encoding mode is the h.264 encoding mode, the image decoding mode corresponds to the h.264 decoding mode.

After the image decoding mode, the terminal device may detect whether the image decoding mode can be supported, and when the terminal device supports the image decoding mode, the terminal device may perform decoding processing on the image transmission code stream data by using the image decoding mode, so as to obtain image information corresponding to the image transmission code stream data. In some embodiments, the method in this embodiment may further include:

s805: and when the terminal equipment does not support the image decoding mode, discarding the image transmission code stream data and sending feedback information to the movable platform.

When the terminal device does not support the determined image decoding mode, the image transmission code stream data can be discarded, and feedback information can be sent to the mobile platform, wherein the feedback information is used for identifying that the terminal device cannot perform normal decoding operation on the currently received image transmission code stream data, so that the mobile platform can adjust or respond to the encoding mode in time according to the feedback information, and the quality and the efficiency of image transmission can be ensured.

The image transmission method provided by the implementation determines a target coding mode corresponding to the image transmission code stream data by acquiring the image transmission code stream data to be identified, and then determines an image decoding mode corresponding to the image transmission code stream data based on the target coding mode; when the terminal equipment supports the image decoding mode, decoding the image transmission code stream data by using the image decoding mode to obtain image information corresponding to the image transmission code stream data; therefore, when the image transmission capacity between the terminal equipment and the movable platform is matched, the transmitted image information can be obtained in time, and the quality and the efficiency of image transmission are ensured; when the terminal equipment does not support the image decoding mode, the image code stream data can be discarded, and the feedback information is sent to the movable platform, so that the information can be timely and effectively fed back to the movable platform, the movable platform can timely adjust or respond the coding mode according to the feedback information, and the stability and the reliability of the method are further improved.

It is understood that the encoding modes may include an h.264 encoding mode, an h.265 encoding mode, an AVC video encoding mode, and the like, and for the convenience of understanding the decoding implementation process in the following embodiments, the h.264 encoding mode and the h.265 encoding mode are taken as examples for illustration. First, the syntax structure of the network abstraction layer unit of the h.264 coding mode and the h.265 coding mode will be explained:

for different Coding standards, the syntax structure may include a Video Coding Layer (VCL) and a Network Abstraction Layer (NAL), where VCL is used to identify the content of valid Video data and NAL is used to identify formatted data and provide header information to ensure that the data is suitable for transmission on various channels and storage media. A network abstraction layer unit is the basic syntax structure of the network abstraction layer, which contains one byte of header information and a series of raw data byte streams from the video coding layer.

Syntax structure of network abstraction layer unit of code stream data under H.264 coding mode

The network abstraction layer unit type information is stored in the header information of the network abstraction layer, 32 types are reserved for the H.264 coding mode, 5 bits are used for representing the network abstraction layer unit type information in the header information of the network abstraction layer, and 17 types of the defined network abstraction layer unit type information are reserved. The more common types are shown in the following table:

table 1: NAL unit type commonly used in H.264 code stream

NAL unit type information	Name of type	Means of
			7	SPS	Sequence parameter set
8	PPS	Image parameter set
			5	IDR	Coded data of IDR picture
1	non-IDR	non-IDR picture coding data
			6	SEI	Supplemental enhancement information
9	AUD	Frame separator
			11	EOS	Code stream ending

Specifically, as shown in fig. 9, the NAL unit type information of 1Byte-8bits includes the following information:

position 0: a disable bit 0(forbidden _ zero _ bit, abbreviated as F), which indicates syntax error when the value is 1;

1-2 position: reference level (NAL ref idc, NRI for short); NRI denotes the priority of the NAL. 0-3, the larger the value is, the more important the current NAL is, and the protection needs to be preferentially carried out. This syntax element must be greater than 0 if the current NAL is an important unit, either a sequence parameter set or a picture parameter set, belonging to a reference frame. When the value is "00" (binary), the attribute NAL unit does not participate in reconstructing the reference picture, and the NAL unit can be discarded. Above "00" (binary), NAL units cannot be discarded.

Positions 3 to 7: is NAL unit type information; the usual NAL unit type information is shown in table 1 above.

Specifically, the header information of the network abstraction layer unit in the h.264 coding mode is shown in the following table:

table 2: header information of network abstraction layer unit in H.264 code stream

	Byte bit information	F position	NRI bit	NAL unit type information
					0x67	01100111	0	11	00111＝NALU_TYPE_SPS
0x68	01101000	0	11	01000＝NALU_TYPE_PPS
					0x65	01100101	0	11	00101＝NALU_TYPE_IDR
0x41	01000001	0	10	00001＝NALU_TYPE_SLICE
					0x06	00000110	0	00	00110＝NALU_TYPE_SEI
0x61	01100001	0	11	00001＝NALU_TYPE_SLICE

As can be seen from table 2, the 0 th bit is 0 and the NRI is not "00" (binary), so the NAL units included in the common image transmission code stream are shown in table 3:

table 3: NAL unit commonly used in H.264 image transmission code stream

Second, the difference between the syntax structure of the network abstraction layer unit of the H.265 coding code stream and the syntax structure of the network abstraction layer unit of the H.264 coding code stream

Compared with the NAL layer of the h.264 encoded code stream, header information (NAL Unit Hader, NUH for short) of a network abstraction layer Unit of the h.265 encoded code stream is composed of two bytes, as shown in fig. 10, information included in the NUH of 16bits is as follows:

position 0: a disable bit of 0, the value of which is 1, indicating a syntax error; (so the 1 st byte value after "00000001" (16 th system) is usually even);

1-6 position: network abstraction layer unit type information;

positions 7 to 12: identification information of the NUH layer;

positions 13-15: is identification information of the time domain.

The general network abstraction layer unit type information is shown in table 4 below:

table 4: NAL unit type commonly used in H.265 code stream

Network abstraction layer unit type information	Type (B)	Means of
			32	VPS	Video parameter set
33	SPS	Sequence parameter set
			34	PPS	Image parameter set
19	IDR	Coded data of IDR picture
			20	IDR	Coded data of IDR picture
1	non-IDR	non-IDR picture coding data
			40	Suffix SEI	Post supplemental enhancement information
35	AUD	Frame separator
			36	EOS	End of sequence code stream
37	EOB	Code stream ending

Note: EOS and EOB of image transmission code stream can not occur

Normally, the 0 th bit is 0, the identification information of the NUH layer is 0, and the identification information of the time domain is 1. (so the 2 nd byte after 00000001 is usually 0x 01). The NAL units commonly used in the h.265 picture code stream are shown in table 5:

table 5: NAL unit commonly used in H.265 image code stream

Code stream content (16 system)	Type (B)	Means of	Position of
				00 00 00 01 40 01	VPS	Video parameter set	I frame start
00 00 00 01 42 01	SPS	Sequence parameter set	I frame header (VPS rear)
				00 00 00 01 44 01	PPS	Image parameter set	I frame header (SPS back)
00 00 00 01 26 01	IDR_W_RADL	Coded data of IDR picture	I frame data (PPS back)
				00 00 00 01 28 01	IDR_N_LP	Coded data of IDR picture	I frame data (PPS)Rear)
00 00 00 01 02 01	TRAIL_R	non-IDR picture coding data	P frame data
				00 00 00 01 50 01	SEI_SUFFIX	Post supplemental enhancement information	Frame tail (I, P frame data back)
00 00 00 01 46 01	AUD	Frame separator	Frame tail (after Suffix SEI)

As can be seen from the above, the frame header information and the frame trailer information of the image transmission code stream data in different encoding modes may be different, so that the image encoding mode may be identified by the frame header information and the frame trailer information of the image transmission code stream data.

Fig. 9 is a first flowchart illustrating a process of determining a target encoding mode corresponding to image transmission stream data according to an embodiment of the present invention; on the basis of the foregoing embodiment, with continued reference to fig. 9, this embodiment provides a way to determine a target encoding mode corresponding to the image transmission code stream data, and specifically, determining the target encoding mode corresponding to the image transmission code stream data may include:

s901: and acquiring frame header information of the image transmission code stream data.

S902: and determining a target coding mode corresponding to the image transmission code stream data according to the frame header information.

The frame header information of the image transmission code stream data in different coding modes is different, so that the target coding mode corresponding to the image transmission code stream data can be determined through the frame header information of the image transmission code stream data, and specifically, the frame header information of the image transmission code stream data at least comprises the first five bytes of information of the image transmission code stream data.

It should be noted that, the first four byte information in the first five byte information of the image transmission code stream data includes data valid identification information, that is, identifies whether the image transmission code stream data is valid data or invalid data, so in some embodiments, before determining the target coding mode corresponding to the image transmission code stream data according to the frame header information, the method in this embodiment may further include:

s900: and determining whether the image transmission code stream data is valid data according to the first four bytes included in the frame header information.

Specifically, determining whether the image transmission stream data is valid data according to the first four bytes included in the frame header information may include:

s900 a: when the first four bytes of information are preset standard information, determining the image transmission code stream data as valid data; alternatively, the first and second electrodes may be,

s900 b: and when the first four bytes of information are not the preset standard information, determining the image transmission code stream data as invalid data.

The preset standard information is preset effective data identification information, and a person skilled in the art can set the preset standard information according to specific application requirements and design requirements, for example, the preset standard information can be set to hexadecimal "00000001" or the like, after frame header information of the image transmission code stream data is obtained, the first four byte information included in the frame header information can be analyzed, and when the first four byte information is the preset standard information, the image transmission code stream data can be determined to be effective data; when the first four bytes of information are not the preset standard information, the data of the image transmission code stream is indicated to have errors, and the data of the image transmission code stream is determined to be invalid data.

When the graph-transmitted code stream data is determined to be invalid data, the graph-transmitted code stream data can be discarded, and the determination of the target coding mode corresponding to the graph-transmitted code stream data is stopped. When the graph code stream data is determined to be valid data, the target coding mode corresponding to the graph code stream data can be continuously determined.

In some embodiments, the target coding mode may include an h.264 coding mode and an h.265 coding mode; at this time, determining the target encoding mode corresponding to the image transmission stream data according to the frame header information may include:

s9021: when the fifth byte information in the frame header information is an odd number, determining that a target coding mode corresponding to the image transmission code stream data is an H.264 coding mode; alternatively, the first and second electrodes may be,

s9022: when the fifth byte information in the frame header information is an even number and the value of the fifth byte information is a first preset value, determining that a target coding mode corresponding to the image transmission code stream data is an H.264 coding mode; alternatively, the first and second electrodes may be,

s9023: and when the fifth byte information in the frame header information is an even number and the value of the fifth byte information is not a first preset threshold value, determining that the target coding mode corresponding to the image transmission code stream data is an H.265 coding mode.

In the process of image transmission, the coded code stream is generally an IPPP structure, and no more complicated network abstraction layer unit type information is used, and generally, the first 6 bytes may only be the NAL header of the SEI/SPS/I frame/P frame in the h.264 coding mode or the NAL header of the SEI/VPS/I frame/P frame in the h.265 coding mode. Therefore, it can be confirmed whether the target encoding mode is the h.264 encoding mode or the h.265 encoding mode by detecting the first 6 bytes information of the frame header information in the image transmission code stream data.

Specifically, as shown in fig. 12, after obtaining the code stream data of one frame of image, first four bytes of information included in the frame header information may be obtained first, and when the first four bytes of information are different from the preset standard information OX 00000001, it is determined that the code stream data of the frame of image is invalid data, and then the code stream data of the current frame of image may be discarded, and the code stream data of the next frame of image may be obtained. If the first four bytes of information are the same as the preset standard information OX 00000001, it may be identified whether the fifth byte of information in the frame header information is odd or OX06, and if the fifth byte of information is odd or OX06, it may be determined that the target encoding mode corresponding to the image transmission stream data is the h.264 encoding mode. When the fifth byte information is not odd or OX06, the target encoding mode corresponding to the graph code stream data can be determined to be h.265 encoding mode.

In the embodiment, the frame header information of the image transmission code stream data is obtained, and the target coding mode corresponding to the image transmission code stream data is determined according to the frame header information, so that the implementation mode is simple and reliable, and the accuracy and reliability of determining the target coding mode are effectively ensured.

Fig. 13 is a third schematic flowchart of determining a target encoding mode corresponding to image transmission stream data according to the embodiment of the present invention; on the basis of the foregoing embodiment, with continued reference to fig. 13, another way for implementing determining a target encoding mode corresponding to the image transmission code stream data is provided in this embodiment, specifically, determining the target encoding mode corresponding to the image transmission code stream data may include:

s1301: and acquiring frame tail information of the image transmission code stream data.

S1302: and determining a target coding mode corresponding to the image transmission code stream data according to the frame tail information.

The frame end information of the image transmission code stream data in different coding modes is different, so that the target coding mode corresponding to the image transmission code stream data can be determined through the frame end information of the image transmission code stream data, and specifically, the frame end information of the image transmission code stream data at least comprises six bytes of information at the tail of the image transmission code stream data.

It should be noted that, before acquiring the end-of-frame information of the image code stream data, the method in this embodiment may further include:

s1300 a: and acquiring the first four bytes of information of the image code stream data.

S1300 b: and when the first four bytes of information are preset standard information, determining the image transmission code stream data as valid data. Alternatively, the first and second electrodes may be,

s1300 c: and when the first four bytes of information are not the preset standard information, determining the image transmission code stream data as invalid data.

The preset standard information is preset effective data identification information, and a person skilled in the art can set the preset standard information according to specific application requirements and design requirements, for example, the preset standard information can be set to hexadecimal "00000001" or the like, after the first four bytes of information included in the frame header information of the image transmission code stream data are obtained, the first four bytes of information included in the frame header information can be analyzed, and when the first four bytes of information are the preset standard information, the image transmission code stream data can be determined to be effective data; when the first four bytes of information are not the preset standard information, the data of the image transmission code stream is indicated to have errors, and the data of the image transmission code stream is determined to be invalid data.

In some examples, the image encoding mode includes an h.264 encoding mode and an h.265 encoding mode, and determining the target encoding mode corresponding to the image transmission code stream data according to the frame end information may include:

s13021: and when the value of the first five byte information in the last six byte information in the frame tail information is a second preset value, determining that the target coding mode corresponding to the image transmission code stream data is the H.264 coding mode. Alternatively, the first and second electrodes may be,

s13022: and when the value of the last six bytes of information in the frame tail information is a third preset value, determining that the target coding mode corresponding to the image transmission code stream data is the H.265 coding mode.

Specifically, as shown in fig. 14, after obtaining the code stream data of one frame of image, first four bytes of information included in the frame header information may be obtained first, and when the first four bytes of information are different from the preset standard information OX 00000001, it is determined that the code stream data of the frame of image is invalid data, and then the code stream data of the current frame of image may be discarded, and the code stream data of the next frame of image may be obtained.

When the first four bytes of information are the same as the preset standard information OX 00000001, the last six bytes of information (SEI field) of the graph code stream data can be identified, and when the last six bytes of information are 0000000109 xx in hexadecimal, xx represents any numerical value, that is, the second preset numerical value is 0000000109 in hexadecimal, at this time, the numerical values of the first five bytes of information in the last six bytes of information are the same as the second preset numerical value, and thus, the target coding mode corresponding to the graph code stream data can be determined to be the h.264 coding mode. If the value of the first five byte information in the last six byte information is different from the second preset value, whether the value of the last six byte information is 000000014601 in hexadecimal form or not can be identified, that is, the third preset value is 000000014601 in hexadecimal form, and if the value of the last six byte information is the same as the third preset value, the target coding mode corresponding to the image transmission code stream data can be determined to be the h.265 coding mode; if the value of the last six bytes of information is different from the third preset value, the image transmission code stream data can be determined to be error code stream data, and then the current image transmission code stream data can be discarded.

In the embodiment, the frame tail information of the image transmission code stream data is obtained, and the target coding mode corresponding to the image transmission code stream data is determined according to the frame tail information, so that the implementation mode is simple and reliable, and the accuracy and reliability of determining the target coding mode are effectively ensured.

It can be understood that the specific implementation manner for determining the target coding mode corresponding to the image transmission code stream data is not limited to the above example, and those skilled in the art may also use other manners to identify the target coding mode as long as the accurate reliability of the target coding mode implementation can be ensured, and details are not described herein.

Fig. 15 is a flowchart illustrating another image transmission method according to another embodiment of the present invention; on the basis of any of the foregoing embodiments, with continued reference to fig. 15, after determining the target encoding mode corresponding to the graph-encoded stream data, the method in this embodiment may further include:

s1501: and detecting whether the target coding mode is updated.

S1502: after the target encoding mode is updated, the image decoding mode is updated based on the updated target encoding mode.

When the movable platform utilizes the target coding mode to code the image to be transmitted, due to the change of the number of terminal devices which are in communication connection with the movable platform, the target coding mode which is used for coding the image to be transmitted on the movable platform can be updated.

For example, when the initial target encoding mode used for encoding the image to be transmitted on the movable platform is the h.264 encoding mode, the determined image decoding mode corresponding to the current initial target encoding mode is the h.264 decoding mode. If the current target coding mode used for coding the image to be transmitted on the movable platform is the H.265 coding mode, it indicates that the target coding mode has been updated, and the image decoding mode can be updated from the H.264 decoding mode to the H.265 decoding mode according to the updated current target coding mode H.265 coding mode.

Similarly, when the initial target encoding mode used for encoding the image to be transmitted on the movable platform is the h.265 encoding mode, the determined image decoding mode corresponding to the current initial target encoding mode is the h.265 decoding mode. If the current target coding mode used for coding the image to be transmitted on the movable platform is the H.264 coding mode, the target coding mode is updated, and the image decoding mode can be updated from the H.265 decoding mode to the H.264 decoding mode according to the updated current target coding mode H.264 coding mode.

In some examples, after updating the image decoding mode based on the updated target encoding mode, the method in this embodiment may further include:

s1601: when the terminal equipment does not support the updated image decoding mode, discarding the image transmission code stream data and sending feedback information to the movable platform; alternatively, the first and second electrodes may be,

s1602: and when the terminal equipment supports the updated image decoding mode, decoding the image transmission code stream data by using the updated image decoding mode.

Specifically, after the image decoding mode is updated, whether the terminal device supports the image decoding mode can be identified, and if the terminal device does not support the updated image decoding mode, it indicates that the terminal device cannot decode the image transmission code stream data by using the updated image decoding mode, so that the image transmission code stream data can be discarded, and feedback information is sent to the movable platform; when the terminal device has the updated image decoding mode, the updated image decoding mode can be directly utilized to decode the image transmission code stream data, so that the image information transmitted by the movable platform can be obtained.

In this embodiment, whether the target encoding mode is updated is detected, and after the target encoding mode is updated, the image decoding mode is updated based on the updated target encoding mode, so that the image transmission capability between the terminal device and the movable platform is effectively matched, and when the terminal device cannot support the updated image decoding mode, feedback information can be sent to the movable platform, thereby ensuring the quality and efficiency of image transmission.

Fig. 16 is a schematic structural diagram of a movable platform according to an embodiment of the present invention; referring to fig. 16, the present embodiment provides a movable platform that may refer to any device capable of movement, which may specifically include, but is not limited to, land vehicles, water vehicles, air vehicles, and other types of motorized vehicles. For illustrative purposes, the movable platform may include a drone, an unmanned ship, and/or an unmanned ship, among others. In addition, the movable platform may perform the image transmission method corresponding to fig. 3, specifically, the movable platform may include:

a first memory 1602 for storing a computer program;

a first processor 1601 for running the computer program stored in the first memory 1602 to implement:

acquiring at least one image decoding mode of at least one terminal device;

determining a target coding mode according to at least one image decoding mode in a plurality of preset coding modes;

coding the image to be transmitted by using a target coding mode to obtain image transmission code stream data corresponding to the image to be transmitted;

and sending the image transmission code stream data to at least one terminal device.

The structure of the movable platform may further include a first communication interface 1603 for the electronic device to communicate with other devices or a communication network.

In some examples, while the first processor 1601 is obtaining at least one image decoding mode of at least one terminal device, the first processor 1601 is configured to: and acquiring at least one image decoding mode sent by at least one terminal device after the communication connection is established between the movable platform and the terminal device.

In some examples, the first processor 1601 is further configured to: determining the quantity information of terminal equipment which establishes communication connection with the movable platform; an initial encoding mode for encoding processing of an image to be transmitted is determined based on the quantity information.

In some examples, when the first processor 1601 determines an initial encoding mode for encoding processing of an image to be transmitted based on the quantity information, the first processor 1601 is configured to: and when the quantity information is one, determining that the initial coding mode for coding the image to be transmitted is a historical coding mode recorded by the movable platform.

In some examples, the historical encoding patterns recorded by the movable platform include encoding patterns used by the movable platform prior to shutdown.

In some examples, the historical encoding patterns recorded by the movable platform include encoding patterns recorded by the movable platform that are associated with the terminal device.

In some examples, when the first processor 1601 determines an initial encoding mode for encoding processing of an image to be transmitted based on the quantity information, the first processor 1601 is configured to: when the quantity information is multiple, the initial coding mode used for coding the image to be transmitted is determined to be the H.265 coding mode.

In some examples, the target encoding mode corresponds to an image decoding mode having a highest decoding capability of the at least one image decoding mode.

In some examples, the number of the at least one terminal device is one, and when the first processor 1601 determines a target encoding mode according to the at least one image decoding mode, the first processor 1601 is further configured to: determining a target decoding mode having the highest decoding capability corresponding to the terminal device among the at least one image decoding mode; and determining a target encoding mode for encoding the image according to the target decoding mode.

In some examples, the target encoding mode corresponds to an image decoding mode having a lowest decoding capability of the at least one image decoding mode.

In some examples, the number of the at least one terminal device is plural, and when the first processor 1601 determines a target encoding mode according to the at least one image decoding mode, the first processor 1601 is further configured to: determining a target decoding mode having a lowest decoding capability corresponding to at least one terminal device among the at least one image decoding mode; and determining a target encoding mode for encoding the image according to the target decoding mode.

In some examples, the first processor 1601 is further configured to: detecting whether the target decoding mode is updated or not; and when the target decoding mode is updated, updating the target coding mode according to the updated target decoding mode.

In some examples, before the encoding process of the image to be transmitted using the target encoding mode, the first processor 1601 is further configured to: acquiring an initial coding mode for coding an image to be transmitted; and when the initial coding mode is different from the target coding mode, adjusting the coding mode of the movable platform from the initial coding mode to the target coding mode.

In some examples, the first processor 1601 is further configured to: acquiring a target coding instruction sent by at least one terminal device; and determining a target coding mode for coding the image to be transmitted according to the target coding instruction.

In some examples, after determining a target encoding mode for encoding an image to be transmitted according to the target encoding instructions, the first processor 1601 is further configured to: detecting whether the target coding mode is the same as the current coding mode; and when the target coding mode is different from the current coding mode, switching the coding mode of the movable platform from the current coding mode to the target coding mode.

In some examples, an image capturing device is disposed on the movable platform, and the image capturing device is communicatively connected to the first processor 1601, in which case the first processor 1601 is further configured to: and acquiring an image to be transmitted, which is acquired by image acquisition equipment.

In some examples, when the first processor 1601 sends the image transmission stream data to at least one terminal device, the first processor 1601 is configured to: acquiring image frame data corresponding to the image transmission code stream data; and inserting preset frame segmentation characters into the image frame data, and sending the image transmission code stream data into which the frame segmentation characters are inserted to at least one terminal device according to frames.

In some examples, when the first processor 1601 inserts a preset frame segmentation character in the image frame data, the first processor 1601 is configured to: and inserting preset frame segmentation characters at the frame head position and/or the frame tail position in the image frame data.

The movable platform shown in fig. 16 can perform the method of the embodiment shown in fig. 3-7, and the detailed description of this embodiment can refer to the related description of the embodiment shown in fig. 3-7. The implementation process and technical effect of the technical solution refer to the descriptions in the embodiments shown in fig. 3 to fig. 7, and are not described herein again.

In addition, an embodiment of the present invention provides a computer-readable storage medium for storing computer software instructions for an electronic device, which includes a program for executing the image transmission method in the method embodiments shown in fig. 3 to 7.

Fig. 17 is a schematic structural diagram of a terminal device according to an embodiment of the present invention; referring to fig. 17, the present embodiment provides a terminal device, which may execute the image transmission method corresponding to fig. 8, and specifically, the terminal device may include:

a second memory 1702 for storing computer programs;

a second processor 1701 for executing the computer program stored in the second memory 1702 to implement:

acquiring image transmission code stream data to be identified;

determining a target coding mode corresponding to the data of the image transmission code stream;

determining an image decoding mode corresponding to the image transmission code stream data based on the target coding mode;

The terminal device may further include a second communication interface 1703, which is used for the electronic device to communicate with other devices or a communication network.

In some examples, when the second processor 1701 determines a target encoding mode corresponding to the graph-encoded stream data, the second processor 1701 is configured to: acquiring frame header information of the image transmission code stream data; and determining a target coding mode corresponding to the image transmission code stream data according to the frame header information.

In some examples, the header information of the graphics stream data includes at least the first five bytes of information of the graphics stream data.

In some examples, before determining the target coding mode corresponding to the graphics stream data according to the frame header information, the second processor 1701 is configured to: and determining whether the image transmission code stream data is valid data according to the first four bytes included in the frame header information.

In some examples, when the second processor 1701 determines whether the graphics stream data is valid data according to the first four bytes information included in the frame header information, the second processor 1701 is configured to: when the first four bytes of information are preset standard information, determining the image transmission code stream data as valid data; or when the first four bytes of information are not the preset standard information, determining that the image transmission code stream data are invalid data.

In some examples, the target coding mode includes an h.264 coding mode and an h.265 coding mode; when the second processor 1701 determines the target coding mode corresponding to the image transmission code stream data according to the frame header information, the second processor 1701 is configured to: when the fifth byte information in the frame header information is an odd number, determining that a target coding mode corresponding to the image transmission code stream data is an H.264 coding mode; or when the fifth byte information in the frame header information is an even number and the value of the fifth byte information is a first preset value, determining that the target coding mode corresponding to the image transmission code stream data is an H.264 coding mode; or, when the fifth byte information in the frame header information is an even number and the value of the fifth byte information is not the first preset threshold, determining that the target coding mode corresponding to the image transmission code stream data is the h.265 coding mode.

In some examples, when the second processor 1701 determines a target encoding mode corresponding to the graph-encoded stream data, the second processor 1701 is configured to: acquiring frame tail information of the image transmission code stream data; and determining a target coding mode corresponding to the image transmission code stream data according to the frame tail information.

In some examples, before obtaining the end-of-frame information of the image bitstream data, the second processor 1701 is further configured to: acquiring first four bytes of information of the image transmission code stream data; when the first four bytes of information are preset standard information, determining the image transmission code stream data as valid data; or when the first four bytes of information are not the preset standard information, determining that the image transmission code stream data are invalid data.

In some examples, the end-of-frame information of the graphics stream data includes at least the last six bytes of information of the graphics stream data.

In some examples, the image coding modes include an h.264 coding mode and an h.265 coding mode; when the second processor 1701 determines the target encoding mode corresponding to the image transmission code stream data according to the frame end information, the second processor 1701 is further configured to: when the value of the first five byte information in the last six byte information in the frame tail information is a second preset value, determining that the target coding mode corresponding to the image transmission code stream data is an H.264 coding mode; or when the value of the last six bytes of information in the frame tail information is a third preset value, determining that the target coding mode corresponding to the image transmission code stream data is the h.265 coding mode.

In some examples, the second processor 1701 is further to: and when the terminal equipment does not support the image decoding mode, discarding the image transmission code stream data and sending feedback information to the movable platform.

In some examples, after determining the target coding mode corresponding to the graph-transport stream data, the second processor 1701 is further configured to: detecting whether the target coding mode is updated; after the target encoding mode is updated, the image decoding mode is updated based on the updated target encoding mode.

In some examples, after updating the image decoding mode based on the updated target encoding mode, the second processor 1701 is further to: when the terminal equipment does not support the updated image decoding mode, discarding the image transmission code stream data and sending feedback information to the movable platform; or when the terminal equipment supports the updated image decoding mode, decoding the image transmission code stream data by using the updated image decoding mode.

The terminal device shown in fig. 17 may execute the method of the embodiment shown in fig. 8-15, and reference may be made to the related description of the embodiment shown in fig. 8-15 for a part not described in detail in this embodiment. The implementation process and technical effect of the technical solution are described in the embodiments shown in fig. 8 to fig. 15, and are not described herein again.

Fig. 18 is a schematic structural diagram of an image transmission system according to an embodiment of the present invention; referring to fig. 18, the present embodiment provides an image transmission system including:

a movable platform 1801, the structure of the movable platform 1801 being the same as that of the movable platform in fig. 16 described above;

a terminal device 1802, the terminal device 1802 is communicatively connected to the movable platform 1801, and the structure of the terminal device 1802 is the same as that of the terminal device in fig. 17 described above.

Taking an unmanned aerial vehicle as an example of a movable platform, an application scenario is shown in fig. 19, and the image transmission system includes an unmanned aerial vehicle 1901 and a terminal device 1902 communicatively connected to the unmanned aerial vehicle 1901.

At this time, after the unmanned aerial vehicle 1901 is powered on, the initial encoding mode may be set as the historical encoding mode recorded before the last power off, and the historical encoding mode may be the h.264 encoding mode or the h.265 encoding mode.

Specifically, the terminal device 1902 may be communicatively connected to the drone 1901 through the application APP, and after detecting that the drone 1901 accesses the terminal device 1902 (e.g., a remote controller or a user terminal, etc.), the terminal device 1902 may periodically send to the drone 1901 at least one image decoding mode of the terminal device 1902. After the drone 1901 receives the at least one image decoding mode, the drone 1901 may send feedback information to the terminal device 1902, so that the terminal device 1902 may stop sending the at least one image decoding mode of the terminal device 1902 to the drone 1901 according to the feedback information. Alternatively, when the terminal device 1902 receives the image transmission code stream data sent by the unmanned aerial vehicle 1901 and the decoding capability of the terminal device 1902 matches the image transmission code stream data, the terminal device 1902 may also stop sending the at least one image decoding mode of the terminal device 1902 to the unmanned aerial vehicle 1901.

After the drone 1901 receives the at least one image decoding mode, the drone 1901 may determine whether the current encoding mode is to be switched according to an image decoding mode having the highest decoding capability of the at least one image decoding mode. For example, when the initial encoding mode of the drone 1901 is the h.264 encoding mode, if the at least one image decoding mode uploaded by the terminal device 1902 includes an h.264 decoding mode and an h.265 decoding mode, at this time, the image decoding mode with the highest decoding capability is the h.265 decoding mode, and the h.265 decoding mode corresponds to the h.265 encoding mode, so that the encoding mode of the drone 1901 can be switched from the h.264 encoding mode to the h.265 encoding mode. If at least one image decoding mode uploaded by the terminal device 1902 includes an h.264 decoding mode, at this time, the image decoding mode with the highest decoding capability is the h.264 decoding mode, and the h.264 decoding mode corresponds to the h.264 encoding mode, so that the encoding mode of the drone 1901 may be kept unchanged.

In addition, another application scenario exists, as shown in fig. 20, the image transmission system includes an unmanned aerial vehicle 1901 and a plurality of terminal devices communicatively connected to the unmanned aerial vehicle 1901, and the following description takes as an example that the plurality of terminal devices include a terminal device 1902a, a terminal device 1902b, and a terminal device 1902 c:

in the application scenario, in order to avoid frequent switching of the encoding modes, after the unmanned aerial vehicle is powered on, the default initial encoding mode is the h.265 encoding mode, and in the process of one-time power on, only one degradation switching operation from the h.265 encoding mode to the h.264 encoding mode may be performed, without performing upgrade switching of the encoding modes.

Specifically, the terminal device 1902 may be communicatively connected to the drone 1901 through the application APP, after detecting that the drone 1901 accesses the terminal device 1902a (e.g., a remote controller or a user end, etc.), the terminal device 1902b, and the terminal device 1902c, the terminal device 1902a, the terminal device 1902b, and the terminal device 1902c may respectively send at least one image decoding mode corresponding to each terminal device to the drone 1901, and after the drone 1901 receives the at least one image decoding mode, the drone 1901 may determine whether a current encoding mode is to be switched according to an image decoding mode with a lowest decoding capability in the at least one image decoding mode. For example, when the initial encoding mode of the drone 1901 is the h.265 encoding mode, if the at least one image decoding mode uploaded by the terminal device 1902a includes an h.264 decoding mode and an h.265 decoding mode, the at least one image decoding mode uploaded by the terminal device 1902b includes an h.264 decoding mode, and the at least one image decoding mode uploaded by the terminal device 1902c includes an h.265 decoding mode, at this time, the image decoding mode with the lowest decoding capability is the h.264 decoding mode, and the h.264 decoding mode corresponds to the h.264 encoding mode, so the encoding mode of the drone 1901 can be switched from the h.265 encoding mode to the h.264 encoding mode.

If at least one image decoding mode uploaded by the terminal device 1902a, the terminal device 1902b, and the terminal device 1902c includes an h.265 decoding mode, at this time, the image decoding mode with the lowest decoding capability is the h.265 decoding mode, and the h.265 decoding mode corresponds to the h.265 encoding mode, so that the encoding mode of the drone 1901 can be kept unchanged.

It should be noted that when there is a terminal device that does not support the h.265 coding mode, the middle-high-end device may send feedback information to the drone 1901, so that the drone 1901 knows that the terminal device does not support the current coding mode, and confirms whether to perform handover.

Specifically, for the above two arbitrary application scenarios, before the unmanned aerial vehicle 1901 switches the h.264 coding mode/the h.265 coding mode, it is not necessary to synchronize all the terminal devices 1902, and only needs to change the coding mode directly, and then the terminal devices 1902 may perform analysis and judgment according to the received image transmission code stream data.

Specifically, after the terminal device 1902 acquires the graph transmission stream data, the following operations may be performed:

1) judging whether the current image transmission code stream data is a data packet of an H.264 coding mode or a data packet of an H.265 coding mode according to the mode in the embodiment;

2) if the code stream data of the h.265 coding mode is received, it may be verified whether the current terminal device 1902 supports the corresponding h.265 decoding mode through a preset API function, if the self-decoding capability of the current terminal device 1902 is not matched with the h.265 decoding mode, the terminal device 1902 may actively and periodically send information to the unmanned aerial vehicle 1901 to report the decoding capability of the terminal device 1902, notify the unmanned aerial vehicle 1901 to adjust the current coding mode from the h.265 coding mode to the h.264 coding mode, and at the same time, discard the current image transmission code stream data until the terminal device 1902 receives a data packet of the h.264 coding mode conforming to the self-decoding capability, and may stop reporting the message. And the H.264 decoding mode can be used for decoding the image transmission code stream data.

3) If the format of the code stream data packet is detected to be switched in the decoding process, for example:

a. if the format of the code stream data packet is switched from h.264 to h.265, at this time, it is detected whether the terminal device 1902 supports the switched decoding mode, if the corresponding decoding mode is supported, the current h.264 decoding process is closed, the decoder is reconfigured, the decoding process of h.265 is started, and after the decoding process is switched, if necessary, I frame data can be requested again for synchronization.

b. If the format of the code stream data packet is switched from H.265 to H.264, the current H.265 decoding process is closed, the decoder is reconfigured, H.264 decoding is started, and I frame data can be requested again for synchronization when necessary after the decoding process is switched.

The image transmission system provided by the embodiment comprises a movable platform and a terminal device, specifically, when the terminal device used by a user supports an h.265 decoding mode, unmanned aerial vehicle image transmission can automatically use an h.265 encoding mode for image transmission, because the compression efficiency of the h.265 encoding mode is higher than that of the h.264 encoding mode, the image transmission image quality is better under the same channel bandwidth, and the image transmission requirements of higher image transmission resolution and frame rate can be met; the image transmission quality can be improved under the condition of the same image transmission specification; when the terminal device used by the user does not support the H.265 decoding mode, the unmanned aerial vehicle image transmission can automatically use the H.264 coding mode to carry out image transmission, thereby ensuring the quality and efficiency of image transmission and further improving the stability and reliability of the image transmission system.

The technical solutions and the technical features in the above embodiments may be used alone or in combination in case of conflict with the present disclosure, and all embodiments that fall within the scope of protection of the present disclosure are intended to be equivalent embodiments as long as they do not exceed the scope of recognition of those skilled in the art.

In the embodiments provided in the present invention, it should be understood that the disclosed related remote control device and method can be implemented in other ways. For example, the above-described remote control device embodiments are merely illustrative, and for example, the division of the modules or units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, remote control devices or units, and may be in an electrical, mechanical or other form.

The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.

The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer processor (processor) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.

The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes performed by the present specification and drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.

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Image transmission method, device, movable platform, system and storage medium

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