CN104683773B - UAV Video high speed transmission method - Google Patents
UAV Video high speed transmission method Download PDFInfo
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- CN104683773B CN104683773B CN201510131681.XA CN201510131681A CN104683773B CN 104683773 B CN104683773 B CN 104683773B CN 201510131681 A CN201510131681 A CN 201510131681A CN 104683773 B CN104683773 B CN 104683773B
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Abstract
The present invention in order to strengthen monitoring unmanned acquisition image data transmission performance and as far as possible reduction power consumption there is provided a kind of UAV Video high speed transmission method, including：(1) unmanned plane collection vision signal, digital video signal is converted into by analog video signal；(2) digital video signal is sent, and video check and correction frame is sent according to the content of digital video signal, the video check and correction frame is the frame directly extracted from digital video signal.The present invention improves the efficiency of UAV Video transmission, reduce the problem of power consumption that long-term delivery normal resolution video or high-resolution video cause is excessive, and the performance for relying on communication chip not too much can be to cause the monitoring client of distant place to obtain same monitoring image, with wide generalization and application prospect.
Description
Technical field
The present invention design quick transmission technique field of vision signal, is passed at a high speed more particularly, to a kind of UAV Video
Transmission method.
Background technology
Current low-cost unmanned drives an airplane, referred to as：Unmanned plane, its transmission of video uses the ISM bands such as 2.4GHz and carried out
Point-to-point transmission of video.Its basic skills is entered using one be arranged on unmanned plane during flying device or many analog video cameras
The vision signal collected, is then sent on unmanned plane during flying device by row video image acquisition by signal wire
2.4GHz analog video emitters, are modulated and are launched by 2.4G emitters.And it is arranged on land-based unmanned plane control
Make omnidirectional's GP antennas on station or with the video letter received from the planar directional antenna of motion tracking from aerial unmanned plane
After number, hand over to and be demodulated to 2.4GHz video receivers.
However, the image data amount that unmanned plane monitoring is obtained is increasing also with demand.For some monitoring
Unmanned plane, the real-time of its transmission of video is difficult to obtain prolonged stability guarantee.Even if the raising of unmanned plane endurance,
Merely the problem can not be solved from the angle of the communication technology.
The content of the invention
The present invention in order to strengthen monitoring unmanned acquisition image data transmission performance and reduce power consumption as far as possible,
There is provided a kind of UAV Video high speed transmission method, including：
(1) unmanned plane collection vision signal, digital video signal is converted into by analog video signal；
(2) digital video signal is sent, and video check and correction frame, the video school are sent according to the content of digital video signal
Frame to frame directly to be extracted from digital video signal.
Further, the step (2) further comprises：
(2.1) framing is carried out to digital video signal；
(2.2) content deltas between each frame is calculated；
(2.3) content deltas is encoded；
(2.4) content deltas after coding is sent；
(2.5) video check and correction frame is sent according to the content deltas.
Further, the unmanned plane collection vision signal includes：Vision signal is gathered using RGB DVR.
Further, also include between the step (2.1) and step (2.2)：Image is carried out to remove gray proces.
Further, the step (2.2) includes：
(a) previous frame image is expressed as to the R-matrix of gray value composition；
(b) change of the no-manned plane three-dimensional angle between former frame and present frame is obtained；
(c) line translation is entered to R-matrix according to the change of three-dimensional perspective；
(d) current frame image is expressed as to the current matrix of gray value composition；
(e) compare current matrix and the R-matrix by conversion, and regard comparative result as content deltas.
Further, the step (b) detects the change of three-dimensional perspective using three-dimensional gyroscope.
Further, the step (2.3) includes：Encoded using H.264 coded system.
Further, whenever the content deltas exceeds predetermined threshold, then the frame obtained step (2.1) is used as video school
Frame is sent.
The beneficial effects of the invention are as follows：The efficiency of UAV Video transmission is improved, long-term delivery is reduced and commonly differentiates
The problem of power consumption that rate video or high-resolution video are caused is excessive, and the performance of dependence communication chip not too much can
To cause the monitoring client of distant place to obtain same monitoring image, with wide generalization and application prospect.
Brief description of the drawings
Fig. 1 shows the FB(flow block) of the UAV Video high speed transmission method according to the present invention.
Embodiment
As shown in figure 1, embodiments in accordance with the present invention, UAV Video high speed transmission method includes：
(1) unmanned plane gathers video signal collective vision signal using RGB DVR, and analog video signal is converted into number
Word vision signal；
(2) digital video signal is sent, and video check and correction frame, the video school are sent according to the content of digital video signal
Frame to frame directly to be extracted from digital video signal.Video check and correction frame is complete treated without the above difference
The primitive frame of journey.
According to a preferred embodiment of the invention, the step (2) further comprises：
(2.1) framing is carried out to digital video signal；Image is carried out to remove gray proces, so that the colour that collection comes
Image is changed into black white image；
(2.2) content deltas between each frame is calculated, the step (2.2) is specifically included：
Due to experienced gray proces before this, the pixel of each two field picture can just be represented only with gray value, so,
The all pixels of one two field picture can just be expressed as a matrix being made up of gray value.In this manner it is achieved that by pending N
Two field picture is expressed as the R-matrix of gray value composition：It is to utilize following algorithm by the mode that the pixel of nth frame is changed into gray value,
Calculate the gray value of each pixel：Yi, j=0.279*Ri, j+0.595*Gi, j+0.126*Bi, j.Wherein (Ri, j, Gi, j,
Bi, j) the RGB color value for picture frame on the i-th row jth row, Yi, j is the gray value in the pixel being converted to.
The change of the no-manned plane three-dimensional angle between former frame and present frame is obtained using three-dimensional gyroscope；Three-dimensional gyroscope
Gather the value in the angle change in these three sub- directions of the X-direction, Y direction and Z-direction in unmanned plane during flying direction.Correspondence
The gray scale value matrix corresponding to video and each frame collected to unmanned plane, it is possible to obtain unmanned plane and change angle in space
The matrix obtained after degree.According to other embodiments of the invention, if the angle that unmanned plane is shot is for bowing below
View, the then change of its Z-direction run into flight course can just be ignored and disregard.So, enter according to gyroscope
During row angular transformation, X-direction and Y direction are only converted.It will be clear for those skilled in the art that this angle
Selection be completely can according to actual needs and use and change.During translation-angle, by each gray value in a matrix
Line displacement is entered in position, and the angle and distance of skew is made according to the change of described three-dimensional perspective.
Using with handling nth frame image identical mode, N+1 two field pictures are expressed as to the current square of gray value composition
Battle array.
Finally, N+1 matrixes and the N matrix by conversion are compared：By the same position corresponding two in two matrixes
It is poor that the gray value of individual pixel is made, and the difference of the gray value for each pixel that the N+1 frames are made to obtain after difference is more than default threshold
The gray value of value is used as content deltas.
The gray value that the difference of above-mentioned gray value is more than predetermined threshold value is encoded using H.264 coded system, then
Send the gray value after coding.
Finally, the difference for calculating the gray value of each above-mentioned pixel is more than ash of the pixel in the N+1 frames of predetermined threshold value
Variance between angle value and the gray value of nth frame, if the variance exceedes predetermined threshold, sends video check and correction frame.
After monitoring client receives the video information in the distance, constantly replicate the former frame for the frame of video being currently received and incite somebody to action
The gray value of the present frame received replaces the gray value of relevant position in the frame of video for replicating and obtaining, so that received
The complete gray value of current video frame.Then, the frame of video of the matrix representative gray value constituted is sent to video and shown
Unit is shown.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
Any modifications, equivalent substitutions and improvements made within refreshing and principle etc., should be included in the scope of the protection.
Claims (5)
1. a kind of UAV Video high speed transmission method, comprises the following steps：
(1) unmanned plane collection vision signal, digital video signal is converted into by analog video signal；
(2) digital video signal is sent, and video check and correction frame is sent according to the content of digital video signal, the video proofreads frame
For the frame directly extracted from digital video signal；
The step (2) further comprises following steps：
(2.1) framing is carried out to digital video signal；
(2.2) content deltas between each frame is calculated；
(2.3) content deltas is encoded；
(2.4) content deltas after coding is sent；
(2.5) gray value for calculating each above-mentioned pixel obtains gray value of the pixel in the N+1 frames that difference is more than predetermined threshold value
Variance between the gray value of nth frame, if the variance exceedes predetermined threshold, sends video check and correction frame；
Also include between the step (2.1) and step (2.2)：Image is carried out to remove gray proces；
The step (2.2) includes：
(a) previous frame image is expressed as to the R-matrix of gray value composition；
(b) change of the no-manned plane three-dimensional angle between former frame and present frame is obtained；
(c) line translation is entered to R-matrix according to the change of three-dimensional perspective；
(d) current frame image is expressed as to the current matrix of gray value composition；
(e) compare current matrix and the R-matrix by conversion, and regard comparative result as content deltas.
2. the UAV Video high speed transmission method according to claim 1, it is characterised in that the unmanned plane gathers video
Signal includes：Vision signal is gathered using RGB DVR.
3. the UAV Video high speed transmission method according to claim 2, it is characterised in that the step (2.1) and step
Suddenly also include between (2.2)：Image is carried out to remove gray proces.
4. the UAV Video high speed transmission method according to claim 1, it is characterised in that the step (b) includes profit
The change of three-dimensional perspective is detected with three-dimensional gyroscope.
5. the UAV Video high speed transmission method according to claim 1, it is characterised in that the step (2.3) includes：
Encoded using H.264 coded system.
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| CN201510131681.XA CN104683773B (en) | 2015-03-25 | 2015-03-25 | UAV Video high speed transmission method |
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| CN201510131681.XA CN104683773B (en) | 2015-03-25 | 2015-03-25 | UAV Video high speed transmission method |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105187723B (en) * | 2015-09-17 | 2018-07-10 | 深圳市十方联智科技有限公司 | A kind of image pickup processing method of unmanned vehicle |
| CN109248378B (en) * | 2018-09-09 | 2020-10-16 | 深圳硅基仿生科技有限公司 | Video processing device and method of retina stimulator and retina stimulator |
| CN113645501A (en) * | 2018-09-20 | 2021-11-12 | 深圳市道通智能航空技术股份有限公司 | Image transmission method, device, image transmitter and aircraft image transmission system |
| CN114815870B (en) * | 2022-05-06 | 2024-09-24 | 成都软智科技有限公司 | Extensible multi-unmanned-plane cooperative fire processing method and system |
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| CN101650866A (en) * | 2009-09-22 | 2010-02-17 | 华南理工大学 | Fire detecting system applied to unmanned helicopter and fire detecting method thereof |
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| CN102932635A (en) * | 2012-11-22 | 2013-02-13 | 南京明德软件有限公司 | Real-time image processing system and method |
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| EP0945847A1 (en) * | 1998-03-25 | 1999-09-29 | Seiko Epson Corporation | Frame rate modulation for liquid crystal display (LCD) |
| WO2002059865A2 (en) * | 2001-01-25 | 2002-08-01 | Koninklijke Philips Electronics N.V. | Method and device for displaying images with subfields |
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Inventor after: Chen Hao Inventor before: Chou Dianchen |
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Effective date of registration: 20170726 Address after: 100000. Room 407, government building, ten Li Town, 67 West Bridge Road, Miyun District, Beijing. -953 Applicant after: Beijing Honest Technology Development Co., Ltd. Address before: 610000 89 cooperation Road, hi tech Zone, Sichuan, Chengdu Applicant before: CHENGDU HAOFEI ROBOT TECHNOLOGY CO., LTD. |
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