WO2018176340A1

WO2018176340A1 - Video transmission method, reception method, system, and unmanned aerial vehicle

Info

Publication number: WO2018176340A1
Application number: PCT/CN2017/078867
Authority: WO
Inventors: 朱磊; 崔浩; 龚明
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2017-03-30
Filing date: 2017-03-30
Publication date: 2018-10-04
Also published as: CN108513712A

Abstract

Provided are a video transmission method, a reception method, and a system for use in a movable object, and an unmanned aerial vehicle. The video transmission method comprises: evaluating one or more features of one or more channels; segmenting video data into multiple sub-video data units according to the one or more features of the one or more channels, each sub-video data unit comprising one or more sub-images; respectively performing encoding on the multiple sub-video data units; and selecting one or more of the channels to transmit the encoded sub-video data units. In the video transmission method, the reception method, and the system for use in a movable object, and the unmanned aerial vehicle, at least one channel is selected from multiple channels to transmit one or more encoded sub-video data units, such that the sub-video data units can be transmitted on matching channels, thereby expanding a bandwidth for video transmission while improving video data transmission efficiency and fault tolerance and reliability of video transmission.

Description

Video transmitting method, receiving method, system, and unmanned aerial vehicle

Technical field

The present invention relates to the field of image processing, and in particular, to a video transmitting method, a receiving method, a transmitting system, a receiving system, and an unmanned aerial vehicle suitable for a movable object.

Background technique

With the rapid development of science and technology, drone technology is becoming more and more mature, and for drones, low-latency video transmission technology on wireless and unreliable channels is the current hot research and application direction; multi-channel can Use multi-channel data transmission channel to achieve the purpose of expanding communication bandwidth; provide multi-channel wireless and unreliable channel conditions, provide matching source coding scheme, ensure timely reliability of video transmission, and improve video transmission quality. Key technology.

The video captured by the shooting device mounted on the UAV can be transmitted through the communication system of the UAV. Specifically, the data processor on the UAV acquires the video data captured by the shooting device, encodes the video data, and then encodes the video data. The subsequent video data is sent to the receiving device on the ground. The number of channels of the communication network between the drone and the receiving device may be multiple. When transmitting the encoded video data, the drone may transmit the encoded video data to the receiving device by using multiple channels. At present, for the multi-channel video transmission method, the multi-channel is mainly used for bandwidth expansion, the encoded video data is directly packetized, and the packetized data is distributed to different channels for transmission, that is, for one. For the frame image, the code stream data obtained by encoding one frame of image is split, and the data packet obtained by splitting is distributed to different channels for transmission, however, when the receiving device receives the data packet transmitted on one of the channels. When a reception error occurs, even if the received packet on the other channel is received correctly, the receiving device cannot obtain the correct image during subsequent decoding.

It can be seen that, in the process of transmitting the split data packet to the receiving device through multiple channels, if the data transmission on one of the multiple channels is wrong, the receiving device cannot obtain the correct image; In addition, when splitting video data, the characteristics of each of the multiple channels (such as bandwidth, bit error rate, etc.) are not considered, resulting in channel and source mismatch, which may lead to teardown. Subdivided packets cannot be transmitted on the channel they match. The above multi-channel transmission mode will reduce the reliability and efficiency of multi-channel video transmission.

Summary of the invention

The invention provides a video transmitting method, a receiving method, a transmitting system, a receiving system and an unmanned aerial vehicle suitable for a movable object, which are used for improving the adaptability of the source and the channel and the fault tolerance of the video transmission.

A first aspect of the present invention is to provide a video transmitting method suitable for a movable object, including:

Evaluating one or more characteristics of one or more channels;

Decomposing the video data into a plurality of sub-video data units according to one or more characteristics of the one or more channels, wherein each sub-video data unit includes one or more sub-images;

Encoding the plurality of sub-video data units separately;

One or more of the channels are selected to transmit the encoded sub-video data unit.

A second aspect of the present invention is to provide a video receiving method suitable for a movable object, comprising:

Receiving a plurality of encoded sub-video data units transmitted by one or more channels;

Decoding the plurality of encoded sub-video data units;

Reconstructing the video data according to the decoded sub video data unit;

The video data includes one or more image frames, and the sub-video data unit includes at least one of a plurality of sub-images obtained by decomposing each of the image frames.

A third aspect of the present invention is to provide a video transmission system suitable for a movable object, comprising:

One or more imaging devices configured to acquire video data;

One or more processors, working alone or in concert, the one or more processors being configured to:

Evaluating one or more characteristics of one or more channels;

Encoding the plurality of sub-video data units separately;

A fourth aspect of the present invention is to provide a video receiving system suitable for a movable object, comprising:

a communication interface, a plurality of encoded sub-video data units received from one or more channels;

Decoding the received plurality of encoded sub-video data units;

Reconstructing the video data according to the decoded sub video data unit;

A fifth aspect of the present invention is to provide an unmanned aerial vehicle comprising:

body;

a power system mounted to the fuselage for providing flight power;

And the above video transmission system.

A sixth aspect of the present invention is to provide a receiving device, including:

The above video receiving system.

The present invention provides a video transmitting method, a receiving method, a transmitting system, a receiving system, and an unmanned aerial vehicle suitable for a movable object, by decomposing video data into a plurality of sub-video data units according to one or more characteristics of the evaluated channel, And encoding a plurality of sub-video data units separately, selecting at least one of the plurality of channels to transmit the encoded sub-video data unit, and selecting at least one of the plurality of channels to transmit one or more encoded ones When the sub-video data unit is used, the sub-video data unit can be transmitted on the channel matched with the same, and the bandwidth of the video data is reduced while the bandwidth is extended, thereby ensuring the timeliness of video transmission. In addition, the receiving system can reconstruct the video image according to the received one or more sub-video data, improve the fault tolerance of the video transmission, and enhance the robustness.

DRAWINGS

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly described below. It is obvious that the drawings in the following description are some embodiments of the present invention. Other drawings may also be obtained from those of ordinary skill in the art in view of the drawings.

FIG. 1 is a schematic flowchart of a video sending method applicable to a movable object according to an embodiment of the present invention;

2 is a schematic diagram of a sub video data unit according to an embodiment of the present invention;

FIG. 3 is a schematic diagram of a sub video data unit according to another embodiment of the present invention; FIG.

FIG. 4 is a schematic diagram of a sub video data unit according to another embodiment of the present invention; FIG.

FIG. 5 is a schematic flowchart of selecting one or more of the channels to send an encoded sub-video data unit according to an embodiment of the present disclosure;

FIG. 6 is a coefficient image of a frame image after Hadamard transform according to an embodiment of the present invention;

FIG. 7 is a schematic diagram of spatial transformation decomposition according to an embodiment of the present invention; FIG.

FIG. 8 is a schematic diagram of spatial downsampling decomposition according to an embodiment of the present invention; FIG.

FIG. 9 is a schematic flowchart of decomposing video data into multiple sub-video data units according to one or more characteristics of the one or more channels according to an embodiment of the present disclosure;

10 is a schematic flowchart of selecting one or more of the channels to send an encoded sub-video data unit according to an embodiment of the present disclosure;

FIG. 11 is a schematic flowchart diagram of a video receiving method applicable to a movable object according to an embodiment of the present invention;

FIG. 12 is a schematic diagram of a decoded sub-image according to an embodiment of the present invention;

FIG. 13 is a schematic diagram of a decoded sub-image according to another embodiment of the present invention; FIG.

FIG. 14 is a schematic diagram of reconstructing an original image according to an embodiment of the present invention;

FIG. 15 is a schematic diagram of reconstructing an original image according to another embodiment of the present invention; FIG.

16 is a structural diagram of a video transmission system suitable for a movable object according to an embodiment of the present invention;

FIG. 17 is a structural diagram of a video receiving system suitable for a movable object according to an embodiment of the present invention.

detailed description

The technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the drawings in the embodiments of the present invention. It is a partial embodiment of the invention, and not all of the embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative efforts are within the scope of the present invention.

It should be noted that when a component is referred to as being "fixed" to another component, it can be directly on the other component or the component can be present. When a component is considered to "connect" another component, it can be directly connected to another component or possibly a central component.

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, unless otherwise defined. The terminology used in the description of the present invention is for the purpose of describing particular embodiments and is not intended to limit the invention. The term "and/or" used herein includes any and all combinations of one or more of the associated listed items.

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

The embodiment of the present invention provides a video transmission method suitable for a movable object. The mobile platform can be an unmanned aerial vehicle, a ground mobile robot, a handheld cloud platform, etc., wherein FIG. 1 is an application according to an embodiment of the present invention. A schematic flowchart of a video sending method for a movable object, as shown in FIG. 1, the method may include:

S101: evaluating one or more characteristics of one or more channels;

Wherein one or more characteristics of the channel include at least a bandwidth; or one or more characteristics of the channel include at least one of: noise, interference, signal to noise ratio, bit error rate, fading rate, bandwidth; or, channel One or more characteristics including the number of available channels or similarities;

In addition, a specific implementation manner for evaluating one or more characteristics of one or more channels is not limited, and an achievable manner is: detecting a signal strength or position of a movable object; and then according to a signal strength of the movable object or The location evaluates one or more characteristics of the channel. Specifically, due to the application of the video transmission system in different application environments, different application environments may affect the characteristics of the channel to varying degrees. For example, when a video transmission system is used in a city, there are dense or tall buildings in the application environment that affect the transmission of wireless signals carrying video data. Wireless signals are transmitted between these buildings to form multipath effects, while the signal strength of the wireless signal is attenuated, and there is more electromagnetic noise in the urban environment, which may be characteristic of the channel of the video transmission system, such as making the channel The bandwidth is reduced, the bit error rate is increased, and the similarity between channels is reduced. Therefore, before evaluating the characteristics of the channel, the location information of the mobile platform and the signal strength of the wireless signal carrying the video data may be obtained from the positioning device on the mobile platform, and the channel is evaluated according to the position signal or the signal strength. characteristic. In addition, the signal strength can also be the signal strength of the positioning signal. For example, if the video transmission system is used in an urban environment, since the building blocks the positioning signal transmitted by the satellite, the movable platform can detect the received positioning signal. Signal strength, by using the signal strength of the positioning, the application scenario of the system of the video transmission system can be known, thereby evaluating the characteristics of the current channel.

S102: Decompose video data into a plurality of sub-video data units according to one or more characteristics of one or more channels, where each sub-video data unit includes one or more sub-images;

In a specific application, the execution body of the embodiment may be a data processor, where the data processor may be a dedicated processor, for example, a processor for performing image processing, or a general-purpose processor, which is not specifically described in the present invention. Limited. Specifically, before decomposing the video data, the decomposition mode of the video data is determined according to one or more characteristics of the foregoing partial evaluation, and the video data is decomposed into a plurality of sub-video data units according to the decomposition manner. The video data is decomposed into a plurality of sub-video data in detail in a decomposition manner determined according to one or more characteristics of the channel.

In some embodiments, the manner in which the video data is decomposed is determined based on one or more evaluated characteristics of the one or more channels, the decomposition comprising at least the number of sub-video data units after decomposition, and decomposing the video data into multiple When the sub-video data unit is used, the data processor decomposes the video data according to the number of sub-video data units indicated in the decomposition mode, that is, the number of the plurality of sub-video data units obtained after the decomposition is the sub-inclusion included in the decomposition mode. The number of video data units, wherein the number of sub-video data units is determined based on one or more characteristics of the evaluated channel. For example, the number of the decomposed sub-video data units included in the decomposition mode is determined to be 4 according to the characteristics of the one or more channels, and when the video data is decomposed, the data processor decomposes the video data into 4 sub-video data units. The number of sub-video data units in the decomposition mode may be determined by available channel data. Specifically, before decomposing the video data, the number of available channels may be evaluated, and the number of available channels is used to determine the decomposed sub-distribution in the decomposition mode. The number of video data units. For example, the current number of available channels is four, and the data processor can decompose the video data into four sub-videos. Data unit. In addition, the number of sub-video data units in the decomposition mode may be determined by the bandwidth of the channel. Specifically, before the video data is decomposed, the bandwidth of the available channel may be evaluated, and the number of channels in the channel whose bandwidth is greater than the preset bandwidth threshold is determined. The number of decomposed sub-video data units in the decomposition mode is determined by the number of channels satisfying the above conditions. For example, the number of channels in the current channel whose bandwidth is greater than the preset bandwidth threshold is four, and the video data can be decomposed into four sub-video data units. In addition, it is also possible to estimate the bit error rate of the available channel, determine the number of channels in the channel whose bit error rate is greater than the preset bit error rate, and determine the decomposed sub-video data in the decomposition mode by using the number of channels satisfying the above conditions. The number of units. It should be noted that, in this embodiment, the number of sub-video data units in the decomposition mode is determined according to the number of available channels, the bandwidth of the channel, and the bit error rate of the channel, for illustrative purposes only, and those skilled in the art may also The other characteristics of the channel are used to determine the number of sub-video data units in the determined decomposition mode, which is not specifically limited herein.

In some embodiments, one implementation manner for decomposing video data into a plurality of sub-video data units according to an decomposition manner is: decomposing the video data into a plurality of sub-video data according to a decomposition manner such that the sub-video data units have similarities. characteristic.

Specifically, the decomposition mode is determined according to one or more characteristics of the evaluated channel, and the video data is decomposed into a plurality of sub-video data units having similar characteristics according to the decomposition manner. For example, to evaluate the bandwidth or channel similarity (band similarity of the channel) of each of the multiple channels, the bandwidth of the multiple channels may be approximately the same, in this case, according to the bandwidth of the channel or the similarity of the channels (the bandwidth of the channel) The similarity is determined by the decomposition mode of the video data, and the video data may be decomposed into a plurality of sub-video data units having similar characteristics according to the decomposition manner, wherein the similarity characteristic may be the size of the code stream data encoded by the sub-video data unit or The energy concentration of the sub-video data unit. In addition, it is also possible to evaluate the bit error rate or the similarity of the channel (the similarity of the bit error rate of the channel) of each of the plurality of channels, and the bit error rate of the plurality of channels may be substantially the same, in this case, according to the channel error The bit rate or channel similarity (similarity of bit error rate of the channel) determines the manner in which the video data is decomposed, and the video data can be decomposed into a plurality of sub-video data units having similar characteristics according to the decomposition method.

In some embodiments, another achievable manner of decomposing video data into a plurality of sub-video data units according to an decomposition manner is: decomposing the video data into a plurality of sub-video data according to a decomposition manner such that the sub-video data unit has Different characteristics.

Specifically, the decomposition mode is determined according to one or more characteristics of the evaluated channel, and the video data is decomposed into a plurality of sub-video data units having different characteristics according to the decomposition manner. The sub-video data unit has different characteristics including: the code stream data size after the sub-video data unit is encoded, or the energy concentration of the sub-video data unit. For example, after evaluating the bandwidth of each channel of multiple channels, the bandwidth of each channel can be found to be different. To match different channel bandwidths, the decomposition mode is determined according to the bandwidth of the channel, and the video data can be decomposed according to the decomposition mode. Sub-video data units with different characteristics. For example, the size of the code stream after the decomposed sub-video data unit is encoded may be different (see the following for a detailed explanation). In addition, when the bandwidths of the channels are different, the energy concentration of the decomposed sub-video data units may be different (see the following for a detailed explanation). Further, the number of channels in the plurality of channels whose bandwidth is greater than or equal to the bandwidth threshold may be determined, and the number of sub-video data units in the decomposition mode is determined according to the number of channels whose bandwidth is greater than or equal to the bandwidth threshold, according to the data. The video data is decomposed into a specified number of sub-video data units, and the plurality of sub-video data units obtained after the decomposing have different energy concentration degrees, or the encoded sub-data data units obtained by the decomposing are different in size.

In addition, the decomposition manner may also be determined according to other characteristics of the channel, so that the plurality of sub-video data obtained by decomposing the video data according to the decomposition manner have different characteristics, for example, the bit error rate of the channel may be evaluated, and the bit error rate of each channel may be different. Different, the decomposition mode may be determined according to the bit error rate of the channel, and the video data is decomposed into multiple sub-video data units according to the decomposition mode, and the energy concentration of the plurality of sub-video data units is different, or the plurality of sub-video data units are encoded. The stream data size varies.

It should be noted that the foregoing part determines the decomposition manner of the video data according to the bandwidth, the bit error rate, and the degree of similarity of the channel for illustrative purposes only, and those skilled in the art may also determine the decomposition mode according to other characteristics of the channel, where No specific restrictions are made.

This embodiment does not limit the number of image frames included in one video data. To schematically illustrate the decomposition process of the video data, it is assumed that the video data includes 6 image frames, that is, 6 frames, and further, in other embodiments, the video The number of image frames included in the data may also be other values.

As shown in FIG. 2, the video data includes six image frames, which are frame 1, frame 2, frame 3, frame 4, frame 5, and frame 6, and frame 1, frame 2, frame 3, frame 4, and frame 5. The frame 6 is separately decomposed. In this embodiment, the number of sub-images into which each image frame is decomposed is not limited. As shown in FIG. 3, each image frame is decomposed into four sub-images, which is only schematically illustrated herein. Subgraph obtained after each image frame is decomposed The number of images can also be other values. Each of the sub-video data units includes at least one of the four sub-images corresponding to each of the image frames after each of the six image frames is decomposed. Optionally, each sub-video data unit includes one of the four sub-images corresponding to each of the six image frames. As shown in FIG. 3, the sub-video data unit 210 includes one sub-image 11 of the frame 1. One sub-image 21 of frame 2, one sub-image 31 of frame 3, one sub-image 41 of frame 4, one sub-image 51 of frame 5, and one sub-image 61 of frame 6; similarly, sub-video data unit 220, sub- The video data unit 230 and the sub video data unit 240 respectively include one sub image of each of the six image frames.

In addition, the number of sub-images included in different sub-video data units may also be different. As shown in FIG. 3, the sub-video data unit 310 includes two

sub-images

11, 12 of the frame 1, and two

sub-images

21, 22 of the frame 2. Two

sub-images

31, 32 of frame 3, one sub-image 41 of frame 4, one sub-image 51 of frame 5, one sub-image 61 of frame 6, sub-video data unit 320 includes one sub-image 13 of frame 1, frame 2 One sub-image 23, one sub-image 33 of frame 3, two sub-images 42, 43 of frame 4, two sub-images 52, 53 of frame 5, two sub-images 62, 63 of frame 6, sub-video data unit 330 includes One sub-image of each of the six image frames.

Optionally, the sub-images included in each sub-video data unit do not overlap. The manner in which at least one of the plurality of sub-images corresponding to each of the plurality of image frames is combined to form a sub-video data unit may also have other combinations, which are not enumerated here.

In addition, the video data may also include only one image frame, that is, one frame image. As shown in FIG. 4, 40 indicates an image frame included in the video data, and the image frame 40 is decomposed. This embodiment does not limit one image frame. The number of sub-images obtained after the decomposition, optionally, the image frame 40 is decomposed into four sub-images, such as the sub-image 11, the sub-image 12, the sub-image 13, and the sub-image 14 as shown in FIG. Sub-picture 11, sub-image 12, sub-image 13, and sub-image 14 can be divided into the following achievable ways:

One achievable manner is that each sub-video data unit includes one sub-image, such as sub-video data unit 410, sub-video data unit 420, sub-video data unit 430, sub-video data unit 440, as shown in FIG.

Another achievable manner is that each sub-video data unit includes two sub-images. This embodiment does not limit the combination of two sub-images included in one sub-video data unit. Alternatively, the sub-image shown in FIG. Video data unit 450 and sub video data unit 460, wherein the sub video data The unit 450 includes a sub-image 11 and a sub-image 12, and the sub-video data unit 460 includes a sub-image 13 and a sub-image 14.

Yet another achievable manner is that each sub-video data unit includes a different number of sub-images, such as the sub-video data unit 470 and the sub-video data unit 480 shown in FIG. 4, wherein the sub-video data unit 470 includes three sub-pictures. The image, the sub-video data unit 480 includes one sub-image, or the sub-video data unit 470 includes one sub-image, and the sub-video data unit 480 includes three sub-images, which are not limited in this embodiment, and constitute three sub-images of one sub-video data unit. Alternatively, the sub-video data unit 470 includes a sub-image 11, a sub-image 12, a sub-image 13, and the sub-video data unit 480 includes a sub-image 14.

S103: encode multiple sub-video data units separately;

The data processor encodes each sub-video data unit of the plurality of sub-video data units by using the decomposed sub-video data unit as a coding unit, and obtains a plurality of code stream data after encoding. Optionally, a sub-video data unit is encoded to obtain a code stream data, where the encoding includes source coding and/or channel coding, and the source coding manner may include H.263, H.264, and H.265. MPEG4, etc., the channel coding method may include error correction coding, and the types of the error correction code may include an RS code, that is, a Reed-Solomon code, a convolutional code, a Turbo code, a Polar code, an interleaving code, a pseudo random sequence scrambling code, and the like.

S104: Select one or more of the channels to transmit the encoded sub-video data unit.

Specifically, after encoding the plurality of sub video data units obtained by decomposing the video data unit, one or more channels may be selected to transmit the encoded sub video data unit, and specifically, each encoded sub video data may be The unit selects a channel from which to transmit the encoded sub-video data unit. The receiving device receives the sub-video data unit in one or more channels and reconstructs the video image based on the received sub-video data unit.

The video transmitting method applicable to the movable object provided by the embodiment, by decomposing the video data into a plurality of sub-video data units according to one or more characteristics of the evaluated channel, and separately encoding the plurality of sub-video data units, selecting At least one of the plurality of channels transmits the encoded sub-video data unit, and when at least one of the plurality of channels is selected to transmit one or more of the encoded sub-video data units, the plurality of sub-video units are decomposed The video data unit can match the characteristics of the channel, so that the sub-video data unit is sent to the receiving device on the channel matched thereto, thereby improving channel utilization and video data transmission efficiency, and at the same time, the receiving device can receive the encoding according to the receiving. The sub-video data after the code reconstructs the video image, which improves the fault tolerance and robustness of the video transmission.

In some embodiments, selecting one or more of the channels to transmit the encoded sub-video data unit comprises selecting one or more of the channels to transmit the code based on one and/or more characteristics of the evaluated channel. Sub-video data unit.

Specifically, as before, the decomposition mode is determined according to one or more characteristics of the channel, and the video data is decomposed according to the decomposition manner to obtain a plurality of sub-video data units, wherein the plurality of sub-video data units may have similar characteristics or multiple sub-video data. Units can have different characteristics. The characteristics of the sub video data unit may include a code stream data size encoded by the sub video data unit or an energy concentration of the sub video data unit.

Further, as described above, one or more characteristics (bandwidth, bit error rate, similarity) of the channel are reviewed. When the characteristics of the plurality of channels are substantially the same, the video data can be decomposed into similar characteristics, for example: The code stream data encoded by the plurality of sub video data units is similar in size, and the energy concentration of the plurality of sub video data units is substantially similar. At this time, when the sub video data unit is transmitted, one channel may be randomly allocated to the sub video data unit.

Further, as before, one or more characteristics (bandwidth, bit error rate, similarity) of the channel are reviewed. When the characteristics of the multiple channels are different, the video data can be decomposed into different characteristics, for example: multiple sub- The code stream data encoded by the video data unit has different sizes, and the energy concentration of the plurality of sub video data units is different. Selecting one or more of the channels to transmit the encoded sub-video data unit includes: selecting a channel-transcoded sub-video data that matches a characteristic of the sub-video data unit from the plurality of channels according to one or more characteristics of the channel Units, specifically, can be implemented in several possible ways:

The first feasible manner is: selecting at least one channel to transmit the encoded sub-video data unit according to the code stream data size and channel bandwidth of the encoded sub-video data unit; specifically, the video data is decomposed to obtain multiple sub-videos. In the data unit, the encoded sub-video data unit has different code stream data sizes and different channel bandwidths. In this case, the code stream data size can be matched with the channel bandwidth, and the channel is selected to transmit the encoded sub-video data unit. . For example, if the data processor decomposes the video data to obtain four sub-video data units, the four sub-video data units are respectively recorded as a sub-video data unit A, a sub-video data unit B, a sub-video data unit C, and a sub-video data unit D. The size of the code stream data is S0, S1, S2, and S3, and the size of the four code stream data may be different. For the purpose of illustration, It is assumed that the size of the four code stream data is successively decremented, if the current wireless channel includes channel 1, channel 2, channel 3, and channel 4, and the bandwidth T of the above channel is T0, T1, T2, T3, and four, respectively. The bandwidth of the channel is successively decremented. In order to transmit the four code streams and ensure the transmission delay requirement, one channel can be selected for each stream data according to the bandwidth of the current channel. For example, channel 1 with the largest channel bandwidth can be used to transmit the encoded sub-video data unit A, and channel 2 with the second largest channel bandwidth can be used to transmit the encoded sub-video data unit B, and the channel bandwidth is the third largest. Channel 3 is used to transmit the encoded sub-video data unit C, and channel 4 with the smallest channel bandwidth is used to transmit the encoded sub-video data unit D. In this way, the channel with strong data transmission capability can transmit the sub-video data unit with larger coded stream data, and the channel with weak data transmission capability can transmit the sub-video data unit with smaller code stream data.

The second feasible manner is: selecting at least one channel to transmit the encoded sub-video data unit according to the energy concentration degree and the channel bandwidth of the sub-video data unit, and further, according to the priority and channel of the encoded sub-video data unit. Bandwidth, at least one channel is selected to transmit the encoded sub-video data unit. Specifically, after the video data is decomposed, multiple sub-video data units are obtained. The energy concentration of the sub-video data units is different, and the bandwidth of the channel is also different. In this case, the energy concentration can be matched with the bandwidth of the channel, and the channel is selected for transmission. The encoded sub-video data unit, wherein the higher the energy concentration of the sub-video data unit is more important when the receiving device reconstructs the video data. For example, if the data processor decomposes the video data to obtain four sub-video data units, the four sub-video data units are respectively recorded as a sub-video data unit A, a sub-video data unit B, a sub-video data unit C, and a sub-video data unit D. The energy concentration of the four sub-video data units is different. For the purpose of illustration, it can be assumed that the energy concentration of the four sub-video data units is sequentially decremented, if the current radio channel includes channel 1, channel 2, and channel 3. Channel 4, and the bandwidth of the four channels is sequentially decremented. In order to ensure that the encoded sub-video data unit with high energy concentration is transmitted and guaranteed to meet the transmission delay requirement, the energy concentration of the sub-video data unit and the channel may be Bandwidth matching, that is, channel 1 with the largest channel bandwidth can be used to transmit the encoded sub-video data unit A with the highest energy concentration, and channel 2 with the second largest channel bandwidth can be used to transmit the encoded energy concentration second. The high sub-video data unit B uses the channel 3 having the third largest channel bandwidth to transmit the encoded energy concentration third. The sub video data unit C, the minimum channel bandwidth channel 4 for transmitting the encoded concentration of the lowest energy sub-video data unit D. In this way, it is ensured that the sub-video data unit with higher energy concentration selects a channel with higher static transmission capability in multiple channels. Transfer.

It should be noted that the number of channels in the foregoing embodiment is four for the purpose of illustration. The number of channels may be other numbers. For example, the number of channels may be 5, 6, 7, 8, or the like. When the number of channels is greater than the number of sub-video data units, a plurality of channels having the largest bandwidth in the channel may be selected to transmit a plurality of sub-video data units.

In some embodiments, the video data may include one or more image frames. Decomposing the video data into the plurality of sub-video data units specifically includes decomposing each of the one or more image frames in the video data into multiple The sub-images, at this time, each of the sub-video data units includes at least one of the plurality of sub-images decomposed in each of the image frames. It should be noted that the foregoing sub-image is a part of an image frame, specifically, the sub-image may be one or more pixels of the image frame, or the sub-image may also be one or more conversion coefficients of the image frame, etc., below A schematic description will be made by decomposing one image frame into a plurality of sub-images.

Specifically, one way to implement each of the one or more image frames in the video data into a plurality of sub-images is to decompose each of the one or more image frames in the video data into multiple sub-spaces. image.

Decomposing the image frame space into a plurality of sub-images in this embodiment may have multiple implementation manners, and one of the implementation manners is to decompose each of the one or more image frames in the video data into multiple sub-images. The method is configured to: decompose each of the one or more image frames in the video data into a plurality of sub-images using a Fourier correlation transform or an orthogonal transform.

Wherein, the Fourier correlation transform or the orthogonal transform is determined from a Hadamard transform, a discrete cosine transform, a discrete Fourier correlation transform, a Walsh-Hadamard transform, a Haar transform or an oblique transform.

As shown in FIG. 5, a schematic diagram of a frame image is used. This embodiment does not limit the number of pixels included in a frame image, and a frame image includes 16 pixels (4×4), for example, P1-P16. The pixel value of 16 pixel points is represented, and the pixel values of each of the four adjacent pixel points of the 16 pixel points are spatially transformed and decomposed into four sub-images, and the following is schematically illustrated by Hadamard transform. The spatial transformation decomposition process includes the following steps:

Step 1. Perform a Hadamard transform by using four adjacent pixels of the 16 pixels as a unit. For example, the conversion coefficients obtained by the Hadamard transform of P1, P2, P3, and P4 are H1, H2, and H3. H4, wherein the relationship between P1, P2, P3, P4 and H1, H2, H3, H4 satisfies the formulas (1), (2), (3), (4):

H1=(P1+P2+P3+P4+1)>>1 (1);

H2=(P1+P2–P3–P4+1)>>1 (2);

H3=(P1+P3–P2–P4+1)>>1 (3);

H4=(P1+P4–P2–P3+1)>>1 (4);

According to formulas (1), (2), (3), (4), H1 contains the average energy of 4 pixels, H2 contains the average gradient of 4 pixels in the vertical direction, and H3 contains 4 pixels. In the horizontal gradient, H4 contains a cross gradient of 4 pixels, ie texture information. Therefore, when the receiving device reconstructs the image frame, H1 is the most important, the importance of H2 and H3 is second, and the importance of H4 is the smallest, that is, the importance of H1, H2, H3, and H4 is successively decreased. Similarly, P5-P8 is subjected to the same Hadamard transformation to obtain H5-H8, P9-P12 is subjected to the same Hadamard transformation to obtain H9-H12, and P13-P16 is subjected to the same Hadamard transformation to obtain H13-H16, and The coefficient image shown in Fig. 6.

Step 2: Decompose the conversion coefficients obtained by the Hadamard transform into different sub-images. This embodiment does not limit the number of sub-images obtained by spatially transforming each frame of the image, for example, the sub-images obtained after the decomposition. The number is four. Optionally, H1 is assigned to the first sub-image, H2 is assigned to the second sub-image, H3 is assigned to the third sub-image, and H4 is assigned to the fourth sub-image. Similarly, H5-H8 is decomposed into 4 sub-images in the same way, H9-H12 is decomposed into 4 sub-images in the same way, and H13-H16 is decomposed into 4 sub-images in the same way, which is obtained as shown in Fig. 7. Decomposition results shown. According to FIG. 7, the resolution of each of the four sub-images after the spatial transformation decomposition is one quarter of the original image before the decomposition. In this embodiment, one image frame is decomposed into four sub-images for illustrative purposes, and one skilled in the art can decompose one image frame into other sub-images.

Another achievable manner is that each of the one or more image frames in the video data can be decomposed into a plurality of sub-images, including: using spatial downsampling to image one or more image frames in the video data. Each space in the space is decomposed into multiple sub-images.

For example, on the basis of FIG. 5, for an image frame having 16 pixel points (4×4), the image frame is spatially downsampled and decomposed into 4 sub-images, and the specific spatial downsampling decomposition process is: Each of the 16 pixels adjacent to the 16 pixels is a unit, and 4 pixels in one unit are decomposed into different sub-images, for example, P1 is decomposed into the first sub-image, and P2 is decomposed into The second sub-image, which decomposes P3 into the third sub-image, decomposes P4 into the fourth sub-image. Similarly, P5-P8 is decomposed into 4 sub-images, P9-P12 is decomposed into 4 sub-images, and P13-P16 is decomposed. Decomposed into 4 sub-images, the decomposition result as shown in Fig. 8 is obtained. The first sub-image may include a pixel with coordinates (2i, 2j) in the original image, and the second sub-image may include a pixel with coordinates (2i+1, 2j) in the original image, and the third sub-image. The image may include pixels with coordinates (2i, 2j+1) in the original image, and the fourth sub-image may include pixels with coordinates (2i+1, 2j+1) in the original image, where 2i+1 <W, 2j+1<H. In this embodiment, an image frame having 16 pixels (4×4) is decomposed into 4 sub-images, wherein the number of pixels included in each sub-image is the same for illustrative purposes only, and in some implementations. In an example, depending on one or more characteristics of the channel, the number of pixels included in the sub-image may be different when the image frame is decomposed.

Each of the one or more image frames in the video data can be decomposed into a plurality of sub-images according to any of the above-described decomposition methods or spatial downsampling. In this embodiment, one image frame is one frame image, and a plurality of image frames are multi-frame images. The video data includes one or more image frames, and the sub-video data unit includes at least one of a plurality of sub-images obtained by decomposing each of the image frames.

If the image data includes an image frame, the image frame is decomposed in a manner as shown in FIG. 7 or FIG. 8. The sub-video data unit may include at least one of the plurality of sub-images obtained by decomposing the image frame. A sub-video data unit includes a sub-image, and each sub-image obtained after the decomposition is encoded to obtain code stream data encoded by the sub-video unit.

If the video data includes multiple image frames, each image frame, that is, the image of each frame is decomposed as shown in FIG. 7 or FIG. 8. For example, the video data includes four image frames, and each image frame is decomposed into four. For each sub-image, four consecutive image frames are decomposed to obtain 4*4 sub-images, and each sub-video data unit may include a plurality of sub-images of 4*4 sub-images. Specifically, the number of sub-video data units may be four, and at least one sub-image is selected from a plurality of sub-images (four sub-images) decomposed in each image frame, and the selected sub-images are composed into sub-video data units.

As can be seen from FIG. 7 or FIG. 8, each sub-image includes a portion of an image frame. As shown in Figure 8, each sub-image includes one or more pixels of an image frame. As shown in Figure 7, each sub-image includes one or more conversion coefficients of the image frame. As shown in FIG. 8, the energy concentration of the sub-image 1, the sub-image 2, the sub-image 3, and the sub-image 4 is the same or similar. As shown in FIG. 7, the energy concentration of the sub-image 1 is the largest, the energy concentration of the sub-image 2 and the sub-image 3 is smaller than the energy concentration of the sub-image 1, and the energy concentration of the sub-image 4 is the smallest, which is further known, including Sub-picture data unit energy of sub-image 1 The concentration is the highest, and the energy concentration of the two sub-video data units including the sub-image 2 and the sub-image 3 respectively is second, and the sub-video data unit including the sub-image 4 has the lowest energy concentration. In addition, it should be noted that the video data is decomposed by spatial downsampling or spatial transform, and the obtained plurality of sub video data units may have different code stream data sizes encoded by the plurality of video data units.

Referring to FIG. 9 , in some embodiments, the method further includes:

S901: Determine a decomposition manner of the video data according to one or more evaluation characteristics of the one or more channels, and decompose the video data into multiple sub-video data units according to the decomposition manner;

S902: Send information for decomposing the video data into a plurality of sub-video data units.

Specifically, in addition to transmitting the sub-video data unit, the information that is decomposed into the decomposition mode of the plurality of sub-video data units may be sent to the receiving device, and the receiving device receives the information of the decomposition mode when receiving the information of the decomposition mode. By analyzing, it is possible to know that the video data is decomposed into the number of sub-video data units, the decomposition method of the image frames in the video data (for example, spatial down-sampling decomposition, Hadamard transform decomposition, etc.), and the information for obtaining the decomposition method is more using the receiving device. Rebuild video data well. The information of the decomposition mode may be included in one or more sub-video data units, that is, the information of the decomposition mode is transmitted while the sub-video data unit is transmitted; at this time, when the information of the decomposition mode is transmitted, the information of the decomposition mode may be encoded. In a special field of the sub-picture data in the sub-video data unit, for example, the information of the decomposition mode may be encoded at the beginning of the sub-video data unit, or the information of the decomposition mode may be encoded at the end of the sub-video data unit, specifically, this The special field may be known to the receiving device. When receiving the sub-video data unit including the information of the decomposition mode, the receiving device may acquire the information of the decomposition mode from the sub-video data unit according to a preset rule.

In some embodiments, the information of the decomposition mode may be transmitted by using a separate channel before transmitting the plurality of sub-video data units; wherein the channel for transmitting the information of the decomposition mode may be different from the channel for transmitting the sub-video data unit, that is, using a separate channel The channel transmits the information of the decomposition mode, which can effectively ensure the stable reliability of the information transmission in the decomposition mode.

Referring to FIG. 10, in some implementations, selecting one or more channels in the channel to transmit the encoded sub-video data unit is configured to include:

S1001: Divide the encoded multiple sub-video data units into one or more sub-video data unit groups according to one or more characteristics of one or more channels;

S1002: Select one or more of the channels to send a sub-video data unit group.

Specifically, after obtaining the encoded multiple sub-video data units, one or more characteristics of one or more channels (noise, interference, signal to noise ratio, bit error rate, fading rate, bandwidth, available channels) may be used. The plurality of sub-video data units are divided into one or more sub-video data unit groups, and the one sub-video data unit group may include one or more encoded sub-video data units, for example, according to available channels. Number, bandwidth, bit error rate, etc. to divide the encoded plurality of sub-video data units into one or more sub-video data unit groups, for example, to decompose the video data unit into sub-video data unit A, sub-video data unit B, sub-video Data unit C, sub-video data unit D, if there are currently 2 available channels, the sub-video data unit A, the sub-video data unit B, the sub-video data unit C, and the sub-video data unit D may be divided into two sub-video data units. The group, after division, uses an available channel to transmit a sub-video data unit group. In addition, the encoded plurality of sub-video data units may be divided into one or more sub-video data unit groups according to the channel wideband, for example, the video data unit is decomposed into the sub-video data unit A, the sub-video data unit B, and the sub-video data. The unit C, the sub-video data unit D, the sub-video data unit E, the sub-video data unit F, and the size of the code stream data corresponding to the six sub-video data units are S0, S1, S2, S3, S4, and S5, respectively. There are 3 available channels, namely channel 1, channel 2, channel 3, the channel bandwidth is T0, T1, T2, respectively, and the channel bandwidth is successively decremented. If channel 1 and channel 2 are used, channel 1 and channel 2 can be guaranteed. The sub-video data unit A, the sub-video data unit B, the sub-video data unit C, the sub-video data unit D, the sub-video data unit E, the sub-video may be provided for the transmission of the two sub-video data unit groups to meet the transmission delay requirement. The data unit F is divided into two sub-video data unit groups, channel 1 transmits one sub-video data unit group, and channel 2 transmits another sub-video data unit group.

In a specific application, in an achievable manner, a sub-video data unit group can be transmitted by selecting a channel with a channel bandwidth matching the encoded code stream data size of the sub-video data unit group among the plurality of channels, that is, according to The sub-video data unit group encodes the code stream data size and the bandwidth of the channel to select a channel. For example, there are currently 2 available channels, namely channel 1, channel 2, channel bandwidths are T0, T1, respectively, and the channel bandwidth is successively decremented, and the video data is decomposed into sub-video data unit A, sub-video data unit B, and sub-video data. The size of the code stream data corresponding to the unit C, the sub-video data unit D, and the four sub-video data units is S0, S1, S2, and S3, respectively, and the size of the code stream data is successively decreased, if T0>S0+S1>T1 >S2+S3, sub-video data units A and B can be divided into one sub-video data unit group 1, and sub-video data units C and D are divided into one sub-video data. Unit group 2, at this time, channel 1 matching sub-video data unit group 1 can be selected for transmitting sub-video data unit group 1, and channel 2 matching sub-video data unit group 2 can be selected for transmitting sub-video data unit Group 2. In this way, the sub-video data unit group with large code stream data can be transmitted using a channel with a large bandwidth, and the sub-video data unit group with small code stream data is transmitted using a channel with a small bandwidth.

In another implementation manner, one of the plurality of channels may be selected to transmit one sub-video data unit group according to the priority of the sub-video data unit group and the channel bandwidth.

Specifically, the priority may be prioritized according to the energy concentration degree of the sub video data unit or the sub video data unit group, and the sub video data unit or the sub video data unit group with high energy concentration has high priority and low energy concentration. The priority of the sub video data unit or the sub video data unit group is low. When a sub-video data unit group is selected from a plurality of channels, the sub-video data unit group may be selected according to the channel bandwidth and the priority of the sub-video data unit group, for example, there are currently 2 channels. , respectively, channel 1 and channel 2, and the channel bandwidth is successively decremented, and the video data is decomposed into sub-video data unit A, sub-video data unit B, sub-video data unit C, sub-video data unit D, and the corresponding energy concentration degrees are sequentially Decreasing, the sub-video data units A and B are divided into one sub-video data unit group 1, and the energy concentration of the sub-video data unit group 1 is high, and the sub-video data units C and D are divided into one sub-video data unit group. 2, the energy concentration of the sub-video data unit group 1 is greater than the energy concentration of the sub-video data unit group 2, and the priority of the sub-video data unit group 1 is greater than the priority of the sub-video data unit group 2, at this time, Under the premise of transmitting a sub-video data unit group using a single channel and ensuring the transmission delay requirement, channel 1 with a large channel bandwidth can be selected for transmission. Video data unit group 1, the channel bandwidth may be selected small channel 2 to transmit video data unit sub-group 2. In this way, it is ensured that the sub-video data unit group 1 with high energy concentration/high priority is transmitted using a channel having a large bandwidth, and the sub-video data unit group 2 having low energy concentration/low priority is transmitted using a channel having a small bandwidth.

In some embodiments, separately encoding the plurality of sub-video data units is configured to include:

A plurality of sub-video data units are encoded by a plurality of separate encoders.

Specifically, multiple sub-video data units may be encoded in parallel by using multiple independent encoders; or, multiple sub-video data units may be encoded by using different video coding rules; or, the same video coding rule pair may be used. A plurality of sub-video data units are encoded.

Two or more of the plurality of sub-video data units are encoded by the same encoder.

At least one of the plurality of sub-video data units is encoded using a motion compensation based video compression standard.

Multiple sub-video data units are compressed according to different compression ratios.

Wherein, the compression ratio may be determined according to one or more characteristics of the sub-video data unit; and for a plurality of sub-video data units, they may have the same characteristics or different characteristics.

It should be noted that multiple sub-video data units are encoded or compressed by using different encoders or motion compensation-based video compression standards or different compression ratios, and the implementation manner is various, easy to operate, and the sub-video is effectively guaranteed. The data unit performs coding stability and reliability.

The embodiment of the invention further provides a computer storage medium, wherein the computer storage medium stores program instructions, and the program instructions may include some or all of the steps of the sending method in the foregoing embodiments.

FIG. 11 is a schematic flowchart of a video receiving method applicable to a movable object according to an embodiment of the present invention. Referring to FIG. 11, the embodiment provides a video receiving method suitable for a movable object, for example, The video receiving method is configured to receive video image information transmitted by an unmanned aerial vehicle. Specifically, the video receiving method includes:

S1101: Receive a plurality of encoded sub-video data units transmitted by one or more channels;

In this embodiment, the receiving device receives, by using one or more channels, a plurality of encoded sub-video data units transmitted by the video transmitting system, wherein each channel may transmit one or more encoded sub-video data units, and The video data may include one or more image frames, and each image frame included in the video data may be decomposed into a plurality of sub-images before the video data is transmitted, and the sub-video data unit includes a plurality of sub-images obtained by decomposing each image frame. At least one of the sub-video data units includes at least one sub-image of each image frame. In this embodiment, four sub-video data units are received by the receiving device through one or more channels, and each sub-video data unit includes a sub-image obtained as shown in FIG. 7 or FIG. 8 for schematic description.

S1102: Decode the encoded multiple sub-video data units.

When the receiving device receives four sub-video data units through one or more wireless channels, the receiving device may separately decode the four encoded sub-video data units, that is, separately perform code stream data corresponding to the four sub-images. Decode to obtain the decoded sub-video data unit. When the sub video data unit is transmitted in the wireless channel, due to noise interference, multipath effect, fading, etc., the sub video data unit obtained by the receiving device and the video transmission system of the UAV may be actually transmitted after being encoded. The sub video data unit is different, and the receiving device receives an error at this time.

If the video transmission system system transmits the four encoded sub-images as shown in FIG. 7, the four sub-images obtained by the receiving device after decoding the encoded sub-images are as shown in FIG. 12, wherein if the sub-image 1 is transmitted Correct, H1 and h1 are the same, H2 and h2 are the same, H3 and h3 are the same, H4 and h4 are the same. If sub-image 1 transmission error, at least one of H1 and h1, H2 and h2, H3 and h3, H4 and h4 are not the same. Similarly, other sub-pictures are transmitted correctly or transmitted incorrectly, and the transform coefficients before transmission and the transform coefficients after transmission also have the same relationship.

If the video transmission system transmits the four encoded sub-images as shown in FIG. 8, the four sub-images obtained by the receiving device after decoding the encoded sub-images are as shown in FIG. 13, wherein if the sub-image 1 is transmitted correctly , P1 and p1 are the same, P2 and p2 are the same, P3 and p3 are the same, and P4 and p4 are the same. If sub-image 1 is transmitted incorrectly, at least one of P1 and p1, P2 and p2, P3 and p3, P4 and p4 are different. . Similarly, other sub-images are transmitted correctly or transmitted incorrectly, and the pixels before transmission and the pixels after transmission also have the same relationship.

S1103: reconstruct video data according to the decoded sub video data unit.

In order to ensure that the correct rate of the video data is reconstructed according to the decoded sub-video data unit, the receiving device at this time needs to know the decomposition mode information that decomposes the video data into a plurality of sub-video data units, so that the receiving device at this time can also receive Decomposition mode information sent by one or more channels for decomposing video data into a plurality of sub-video data units; further, after the receiving device decodes the encoded sub-images to obtain 4 sub-images, in order to improve the correctness of reconstructing the video data Rate, it is possible to detect that each sub-image is transmitted correctly or a transmission error, and reconstruct the original image according to receiving the correct sub-image, wherein the transmission of the wrong sub-image and the transmission of the correct sub-image are from the same image frame.

In this embodiment, the sub-image sent by the video transmission system is the sub-image shown in FIG. 7, and the sub-image received by the receiving device is as shown in FIG. 12, as shown in FIG. 12, assuming that the sub-image 2 receives an error, the sub-image 1. Sub-image 3 and sub-image 4 are all received correctly, then the receiving device according to the sub-picture shown in FIG. Image 1, sub-image 3, and sub-image 4 reconstruct the original image. When reconstructing the original image, a value may be assigned to the sub-image transmitted in the decoded sub-video data unit. A feasible implementation is: sub-video The sub-image assignment of the transmission error in the data unit has a value of zero. Specifically, h2, h6, h10, and h14 of the sub-image 2 can be set to 0. According to the above embodiment, H1, H2, H3, and H4 are obtained according to P1, P2, P3, and P4, and therefore, reconstruction is performed. In the original image, it is necessary to perform inverse Hadamard transformation on h1, h2, h3, and h4 to obtain p1, p2, p3, and p4, wherein the relationship between h1, h2, h3, h4 and p1, p2, p3, and p4 is satisfied. Equations (5), (6), (7), (8):

P1=(h1+h2+h3+h4+1)>>1 (5);

P2=(h1+h2-h3-h4+1)>>1 (6);

P3=(h1+h3-h2-h4+1)>>1 (7);

P4=(h1+h4-h2-h3+1)>>1 (8);

Where h2 is 0, H1 and h1 are the same, H3 and h3 are the same, and H4 and h4 are the same. Therefore, p1, p2, p3, p4 obtained by inverse Hadamard transform and pixel values P1, P2, P3 in the original image, P4 may be different, but the original image is reconstructed according to receiving the correct sub-image, wherein the transmission of the erroneous sub-image and the transmission of the correct sub-image may be from the same image frame, ensuring that the reconstructed image is close to the original image. Similarly, h5, h6, h7, h8 are inversely transformed by Hadamard to obtain p5, p6, p7, p8, and h9, h10, h11, h12 are inversely transformed by Hadamama to obtain p9, p10, p11, p12, h13, H14, h15, h16 perform inverse Hadamard transform to obtain p13, p14, p15, p16, wherein h6, h10, h14 are all 0, and reconstruct the original image according to p1-p16 obtained by inverse Hadamard transform, as shown in Fig. 14. .

In other embodiments, the sub-image sent by the video transmitting system is the sub-image shown in FIG. 8, and the sub-image received by the receiving device is as shown in FIG. 13. In addition, as shown in FIG. 13, it is assumed that the sub-image 3 receives an error. The sub-image 1, the sub-image 2, and the sub-image 4 are all received correctly, and the receiving device reconstructs the original image according to the sub-image 1, the sub-image 2, the sub-image 3, and the sub-image 4 shown in FIG. 13, and when reconstructing the original image, the sub-image The image 3 does not participate in the reconstruction process, that is, the receiving device reconstructs the original image only according to the sub-image 1, the sub-image 2, and the sub-image 4. The specific process is as follows: since the original image includes 16 pixels, the sub-image 1, the sub-image 2, and the sub-image 4 A total of 12 pixels, according to FIG. 8, each of the 16 adjacent pixels in the original image is decomposed into 4 different sub-images. Therefore, according to the sub-image 1, the sub-image 2, and the sub-image When the image 4 reconstructs the original image, the first pixel p1 of the sub-image 1, the first pixel p2 of the sub-image 2, and the first pixel p4 of the sub-image 4 are the first group of the original image. Similarly, 3 pixels of the adjacent 4 pixels, p5, p6, p8 are 3 pixels in the original image P5-P8, p9, p10, p12 are 3 pixels in the original image P9-P12, p13, P14 and p16 are three pixels in the original image P13-P16, and an image A as shown in FIG. 15 can be obtained from p1, p2, p4, p5, p6, p8, p9, p10, p12, p13, p14, p16. The pixel remaining in the image A is the pixel included in the sub-image 3 that received the error, and since the sub-image 3 receives an error, the sub-image 3 cannot participate in the process of reconstructing the original image. Since p1, p2, p4, p5, p6, p8, p9, p10, p12, p13, p14, and p16 are all correctly received, ie, p1, p2, p4, p5, p6, p8, p9, p10, p12, p13 The p14 and the p16 are respectively the same as the pixel at the same position of the original image. In this embodiment, a sub-image 3 of the sub-video data unit may be assigned a value. Another feasible implementation is: sub-video data. The value assigned to the sub-image 3 in which the error is transmitted in the unit is determined by interpolation. Specifically, the value assigned to the sub-picture transmitted in the sub-video data unit is determined based on the transmission of the correct sub-image. For example, in this embodiment, the pixel value of the image A can be determined according to the interpolation method. A feasible interpolation method is: p3 is equal to the arithmetic mean of p1, p2, and p4, and p7 is equal to the arithmetic mean of p5, p6, and p8. P11 is equal to the arithmetic mean of p9, p10, p12, and p15 is equal to the arithmetic mean of p13, p14, p16, thereby obtaining the reconstructed original image B. Here, only one method of interpolating the pixel value of the image A is provided, and those skilled in the art may use other interpolation methods to determine the residual pixel value of the image A, which is not specifically limited herein.

The video receiving method for a movable object provided by the embodiment receives a plurality of encoded sub-video data units transmitted by one or more channels, and then separately decodes the plurality of sub-video data units to obtain a decoded sub- a video data unit, and reconstructing the original image according to the decoded sub-video data unit, thereby realizing that a reconstructed image without mosaic error can be obtained as long as one or more channel data is correctly received; the more correctly received channels, The final reconstructed image quality is higher; when all channels are correctly received, the maximum reconstructed image quality is obtained and the transmitted original image is consistent, thereby improving the fault tolerance of the receiving device in reconstructing the image and enhancing the robustness.

The embodiment of the invention further provides a computer storage medium, wherein the computer storage medium stores program instructions, and the program instructions may include some or all of the steps of the receiving method in the foregoing embodiments.

FIG. 16 is a video transmission system suitable for a movable object according to an embodiment of the present invention. FIG. 16 shows that the present embodiment provides a video transmission system suitable for a movable object, and the video transmission system 1600 can be disposed on a movable platform, for example, on an unmanned aerial vehicle, and used for The video sending method is performed. Specifically, the video sending system includes:

One or more imaging devices 1601 configured to acquire video data;

One or more processors 1602 on the movable object, working alone or in concert, one or more processors 1602 are configured to:

Evaluating one or more characteristics of one or more channels;

Decomposing video data into a plurality of sub-video data units in accordance with one or more characteristics of one or more channels, wherein each sub-video data unit includes one or more sub-images;

Encoding multiple sub-video data units separately;

Further, when the video data includes one or more image frames, the processor 1602 may be configured to: when the video data is decomposed into a plurality of sub-video data units:

Each of the one or more image frames in the video data is decomposed into a plurality of sub-images, wherein each of the sub-video data units includes at least one of the plurality of sub-images of each of the image frames.

Wherein each of the sub-images described above includes a portion of an image frame, and specifically, each sub-image may include one or more pixels of the image frame, or each sub-image includes one or more conversion coefficients of the image frame.

Further, in this embodiment, when the processor 1602 decomposes each of the one or more image frames in the video data into multiple sub-images, the processor 1602 may be configured to:

Each of the one or more image frames in the video data is decomposed into a plurality of sub-images.

Specifically, in an achievable manner, when the processor 1602 decomposes each of the one or more image frames in the video data into multiple sub-images, the processor 1602 may be configured to:

Decomposing each of the one or more image frames in the video data into a plurality of sub-images using a Fourier correlation transform or an orthogonal transform; wherein the Fourier correlation transform or the orthogonal transform is a Hadamard transform Determined by discrete cosine transform, discrete Fourier correlation transform, Walsh-Hadamard transform, Haar transform or oblique transform.

Another achievable manner is that when the processor 1602 decomposes each of the one or more image frames in the video data into a plurality of sub-images, the processor 1602 can be configured to:

Each of the one or more image frames in the video data is decomposed into a plurality of sub-images using spatial downsampling.

It should be noted that one or more characteristics of the foregoing channel include at least a bandwidth. Specifically, one or more characteristics of the channel may include at least one of the following: noise, interference, signal to noise ratio, bit error rate, and fading rate. Bandwidth; alternatively, one or more characteristics of the channel may also be set to include the number of available channels or similarities.

Further, when the processor 1602 evaluates one or more characteristics of one or more channels, the processor 1602 can be configured to:

Detecting the signal strength or position of a movable object;

One or more characteristics of the channel are evaluated based on the signal strength or position of the movable object.

Further, when the processor 1602 decomposes the video data into multiple sub-video data units according to one or more characteristics of one or more channels, the processor 1602 may be configured to:

Decomposing the video data is determined according to one or more evaluation characteristics of the one or more channels, and the video data is decomposed into a plurality of sub-video data units according to the decomposition manner.

The foregoing decomposition manner includes at least the number of the sub-video data units after the decomposition. For the implementation manner in which the processor 1602 decomposes the video data into multiple sub-video data units according to the decomposition manner, an achievable manner is: processing The device 1602 is configured to:

The video data is decomposed into a plurality of sub-video data according to a decomposition manner such that the sub-video data units have similar characteristics.

Another achievable way is that the processor 1602 is configured to:

The video data is decomposed into a plurality of sub-video data according to a decomposition manner such that the sub-video data units have different characteristics.

The different characteristics of the sub video data unit include: the size of the code stream data after the sub video data unit is encoded, or the energy concentration of the sub video data unit.

Moreover, one implementation manner of implementing one or more of the selected channels to transmit the encoded sub-video data unit is: when the processor 1602 selects one or more of the channels to transmit the encoded sub-video data unit, Can be configured to:

Decoding the encoded plurality of sub-video data units into one or more sub-video data unit groups according to one or more characteristics of the one or more channels;

One or more of the channels are selected to transmit the sub-video data unit group.

For the above-mentioned sub-video data unit group, each sub-video data unit group may include one or more sub-video data units; one way of implementing the selection channel is: the channel is a code stream data size and channel that can be according to the data unit group Bandwidth selection; another way to implement channel selection may be: the channel is selected according to the priority of the sub-video data unit group and the channel bandwidth.

Further, the processor 1602 may be further configured to: send information for decomposing the video data into a plurality of sub-video data units, wherein the information of the decomposition mode may be included in the information of the plurality of sub-video data units.

The information of the above decomposition mode may be encoded in a special field of the sub-picture data; at this time, the processor 1602 may be configured to encode the information of the decomposition mode in a special field of the sub-picture data in the sub-video data unit.

When the information of the decomposition mode is transmitted, the processor 1602 may be configured to: when the video data is decomposed into information of a decomposition mode of the plurality of sub video data units, configured to transmit by using a separate channel before transmitting the plurality of sub video data units. Decomposition method information.

The processor 1602 is further configured to control the plurality of encoders to encode the plurality of sub-video data units when the information of the decomposition mode is encoded in a special field of the sub-picture data in the sub-video data unit.

Specifically, the first achievable manner is: the processor 1602 is specifically configured to control multiple encoders to perform parallel encoding on multiple sub-video data units;

The second achievable manner is that the processor 1602 is specifically configured to control multiple encoders to encode multiple sub-video data units by using different video coding rules.

A third achievable manner is that the processor 1602 is specifically configured to control multiple encoders to encode multiple sub-video data units by using the same video coding rule.

A fourth achievable manner is that the processor 1602 is further configured to control the encoder to encode two or more of the plurality of sub-video data units.

A fifth achievable manner is that the processor 1602 is further configured to control the encoder to encode at least one of the plurality of sub-video data units based on the motion compensated video compression standard.

When the processor 1602 separately encodes the plurality of sub-video data units, the processor 1602 may be configured to compress the plurality of sub-video data units according to different compression ratios; wherein the compression ratio is based on one or a sub-video data unit Multiple characteristics are determined.

For the video transmission system suitable for a movable object, the movable object may be an unmanned aerial vehicle, and one or more imaging devices may be connected to the movable object through a carrier, wherein the carrier It can be a multi-axis universal joint.

It should be noted that the specific principles and implementation manners of the video transmission system provided by the embodiments of the present invention are similar to the embodiments shown in FIG. 1 to FIG. 10, and details are not described herein again.

In the video transmission system applicable to the movable object provided by this embodiment, the processor 1602 separately decomposes the video data into a plurality of sub-video data units, and separately encodes the plurality of sub-video data units according to channel characteristics and characteristics of the sub-video data units. Selecting at least one of the plurality of channels to transmit the encoded sub-video data unit, and when selecting at least one of the plurality of channels to transmit the one or more encoded sub-video data units, causing the sub-video data The unit can transmit on the channel matched with it, and improve the transmission efficiency of the video data while expanding the bandwidth of the video transmission. At the same time, the video receiving device reconstructs the video data by using the sub-video data unit received from the multiple channels, Improve the fault tolerance and reliability of video transmission.

FIG. 17 is a structural diagram of a video receiving system suitable for a movable object according to an embodiment of the present invention. Referring to FIG. 17, the embodiment provides a video receiving system suitable for a movable object, where the video is provided. The receiving system can be disposed on the receiving device, wherein the receiving device can be a remote controller, a smart phone, a wearable device (watch, wristband), a ground control station, a laptop, etc., and a combination, the video receiving system 1700 is configured to execute The video receiving method, specifically, the video receiving system includes:

a communication interface 1701, a plurality of encoded sub-video data units received from one or more channels;

One or more processors 1702, working alone or in concert, the one or more processors 1702 are configured to perform decoding of the received plurality of encoded sub-video data units, reconstructing from the decoded sub-video data units Video data; wherein the video data includes one or more image frames, and the sub-video data unit includes at least one of the plurality of sub-images obtained by decomposing each of the image frames.

When the processor 1702 decodes the plurality of encoded sub-video data units, the processor 1702 may be configured to separately decode the plurality of encoded sub-video data units.

Further, when the processor 1702 reconstructs the video data according to the decoded sub-video data unit, the processor 1702 may be configured to: detect a transmission error of one or more sub-images of the decoded sub-video data unit, and reconstruct according to receiving the correct sub-image. Video data; in order to ensure the quality and the winning rate of the received image, the processor 1702 is further configured to: transmit the wrong sub-segment to the decoded sub-video data unit The image is assigned a value, and specifically, a value assigned to the sub-picture transmitted with errors in the decoded sub-video data unit may be zero.

Wherein, when the processor 1702 assigns a value to the sub-picture data transmission error in the decoded sub-video data unit, the processor 1702 may be configured to: determine, by using an interpolation method, the sub-image allocated to the transmission error in the decoded sub-video data unit. Value.

Specifically, when the processor 1702 determines, by using an interpolation method, a value assigned to the sub-image transmitted by the error in the decoded sub-video data unit, the processor 1702 may be configured to: determine, according to the sub-image that is correctly transmitted, the decoded sub-video data unit. The value assigned to the erroneous sub-image is transmitted, wherein the erroneous sub-image is transmitted and the correct sub-image is transmitted from the same image frame.

Further, when the processor 1702 reconstructs the video data according to the sub video data unit, the processor 1702 may be configured to reconstruct the video data by using an inverse transform.

The specific principles and implementations of the video receiving system provided by the embodiment of the present invention are similar to the embodiment shown in FIG. 11-15, and details are not described herein again.

The video receiving system for the movable object provided by the embodiment receives the plurality of encoded sub-video data units from the plurality of channels by the processor 1702, and then separately decodes the plurality of sub-video data units to obtain the decoded sub-s a video data unit, and reconstructing the original image according to the decoded sub-video data unit, thereby realizing that a reconstructed image without mosaic error can be obtained as long as one or more channel data is correctly received; the more correctly received channels, The final reconstructed image quality is higher; when all channels are correctly received, the maximum reconstructed image quality is obtained and the transmitted original image is consistent, thereby improving the fault tolerance of the receiving system in reconstructing the image and enhancing the robustness of the video receiving system. Sex.

This embodiment provides an unmanned aerial vehicle, including:

body;

a power system installed in the fuselage to provide flight power;

And the above video transmission system.

The unmanned aerial vehicle provided in this embodiment is configured to provide a video transmission system, wherein the processor in the video transmission system can decompose the video data into a plurality of sub-video data units, and separately encode the plurality of sub-video data units according to the channel. Characteristics and characteristics of the sub-video data unit, selecting at least one of the plurality of channels to transmit the encoded sub-video data unit, when selecting a plurality of signals When at least one channel of the channel transmits one or more encoded sub-video data units, the sub-video data unit can be transmitted on the channel matched thereto, and the transmission of the video data is improved while expanding the bandwidth of the video transmission. The efficiency, at the same time, the video receiving device reconstructs the video data by using the sub-video data units received from the plurality of channels, which can improve the fault tolerance and reliability of the video transmission.

The embodiment provides a receiving device, including: the above video receiving system, for example, the receiving device may be a remote controller, a smart phone, a tablet computer, a ground control station, a laptop computer, a watch, a wristband, etc., and combinations thereof. At the same time, the unmanned aerial vehicle can be controlled on the ground.

The technical solutions and technical features in the above various embodiments may be separate or combined in the case of conflicting with the present invention, and the equivalent embodiments within the protection scope of the present application are not included in the scope of the knowledge of those skilled in the art. .

In the several embodiments provided by the present invention, it should be understood that the related apparatus and method disclosed may be implemented in other manners. For example, the device embodiments described above are merely illustrative. For example, the division of the modules or units is only a logical function division. In actual implementation, there may be another division manner, for example, multiple units or components may be used. Combined or can be integrated into another system, or some features can be ignored or not executed. In addition, the mutual coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection through some interface, device or unit, and may be in an electrical, mechanical or other form.

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

In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above integrated unit can be implemented in the form of hardware or in the 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 standalone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may contribute to the prior art or all or part of the technical solution may be embodied in the form of a software product stored in a software product. The storage medium includes instructions for causing a computer processor 101 to perform all or part of the steps of the methods described in various embodiments of the present invention. The foregoing 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 the like, which can store program codes.

The above is only the embodiment of the present invention, and is not intended to limit the scope of the invention, and the equivalent structure or equivalent process transformation of the present invention and the contents of the drawings may be directly or indirectly applied to other related technologies. The fields are all included in the scope of patent protection of the present invention.

Finally, it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, and are not intended to be limiting; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art will understand that The technical solutions described in the foregoing embodiments may be modified, or some or all of the technical features may be equivalently replaced; and the modifications or substitutions do not deviate from the technical solutions of the embodiments of the present invention. range.

Claims

A video transmitting method suitable for a movable object, which is characterized in that it comprises:

Evaluating one or more characteristics of one or more channels;

Decomposing the video data into a plurality of sub-video data units according to one or more characteristics of the one or more channels, wherein each sub-video data unit includes one or more sub-images;

Encoding the plurality of sub-video data units separately;

One or more of the channels are selected to transmit the encoded sub-video data unit.
The method of claim 1, wherein the video data comprises one or more image frames; and the decomposing the video data into a plurality of sub-video data units comprises:

Decomposing each of the one or more image frames in the video data into a plurality of sub-images, wherein each of the sub-video data units includes a plurality of sub-images obtained by each of the image frames At least one sub-image.
The method of claim 2 wherein each sub-image comprises a portion of said image frame.
The method of claim 3 wherein each of said sub-images comprises one or more pixels of said image frame.
The method of claim 3 wherein each of said sub-images comprises one or more conversion coefficients of said image frame.
The method of claim 2, wherein the decomposing each of the one or more image frames in the video data into a plurality of sub-images comprises:

Decomposing each of the one or more image frames in the video data into the plurality of sub-images.
The method of claim 6 wherein said decomposing each of said one or more image frames in said video data into said plurality of sub-images comprises:

Each of the one or more image frames in the video data is decomposed into the plurality of sub-images using a Fourier correlation transform or an orthogonal transform.
The method according to claim 7, wherein said Fourier correlation transform or orthogonal transform is from Hadamard transform, discrete cosine transform, discrete Fourier correlation transform, Walsh-Hadamard transform, Ha Determined in the transform or oblique transform.
The method of claim 6 wherein said decomposing each of said one or more image frames in said video data into said plurality of sub-images comprises:

Each of the one or more image frames in the video data is decomposed into the plurality of sub-images using spatial downsampling.
A method according to any one of claims 1-9, characterized in that one or more characteristics of the channel comprise at least a bandwidth.
A method according to any one of claims 1-9, characterized in that one or more characteristics of the channel comprise at least one of the following:

Noise, interference, signal to noise ratio, bit error rate, fading rate, bandwidth.
A method according to any one of claims 1-9, characterized in that one or more characteristics of the channel comprise the number of available channels or similarities.
A method according to any one of claims 1-9, wherein said evaluating one or more characteristics of one or more channels comprises:

Detecting the signal strength or position of a movable object;

One or more characteristics of the channel are evaluated based on signal strength or position of the movable object.
The method of any of claims 1-9, wherein the decomposing the video data into a plurality of sub-video data units according to one or more characteristics of the one or more channels comprises:

Decomposing the video data according to one or more evaluation characteristics of the one or more channels, and decomposing the video data into a plurality of sub-video data units according to the decomposition manner.
The method of claim 14 wherein said decomposition mode comprises at least the number of sub-video data units after decomposition.
The method according to claim 14, wherein the decomposing the video data into a plurality of sub-video data units according to the decomposition manner comprises:

The video data is decomposed into a plurality of sub-video data according to the decomposition manner such that the sub-video data units have similar characteristics.
The method according to claim 14, wherein the decomposing the video data into a plurality of sub-video data units according to the decomposition manner comprises:

The video data is decomposed into a plurality of sub-video data units according to the decomposition manner such that the sub-video data units have different characteristics.
The method of claim 17 wherein the sub-video data units have different characteristics comprising:

The size of the code stream data encoded by the sub video data unit or the energy concentration of the sub video data unit.
The method according to any one of claims 1 to 18, wherein the selecting one or more of the channels to transmit the encoded sub-video data unit comprises:

Decoding the encoded plurality of sub-video data units into one or more sub-video data unit groups according to one or more characteristics of the one or more channels;

One or more of the channels are selected to transmit the set of sub-video data units.
The method of claim 19 wherein each of said sub-video data unit groups comprises one or more sub-video data units.
The method of claim 19 wherein said channel is selected based on a code stream data size and a channel bandwidth of said set of data units.
The method of claim 19 wherein said channel is selected based on a priority and a channel bandwidth of said set of sub video data units.
A method according to any one of claims 14-18, further comprising:

Information for decomposing the video data into a plurality of sub-video data units is transmitted.
The method of claim 23, wherein the information of the decomposition mode is included in information of a plurality of sub-video data units.
The method of claim 23, further comprising:

The information of the decomposition mode is encoded in a special field of the sub-picture data in the sub-video data unit.
The method of claim 23, wherein transmitting information for decomposing the video data into a plurality of sub-video data units comprises:

The information of the decomposition mode is transmitted using a separate channel before transmitting the plurality of sub-video data units.
The method according to any one of claims 1 to 26, wherein the encoding the plurality of sub-video data units separately comprises:

The plurality of sub-video data units are encoded by a plurality of separate encoders.
The method of claim 27, wherein said plurality of sub-video data sheets The element is encoded by a number of separate encoders, including:

The plurality of sub-video data units are encoded in parallel using a plurality of separate encoders.
The method of claim 27 wherein said plurality of sub-video data units are encoded by a plurality of separate encoders, comprising:

The plurality of sub-video data units are encoded using different video coding rules.
The method of claim 27 wherein said plurality of sub-video data units are encoded by a plurality of separate encoders, comprising:

The plurality of sub-video data units are encoded using the same video encoding rules.
The method according to any one of claims 1 to 26, characterized in that the plurality of sub-video data units are separately encoded, comprising:

Two or more of the plurality of sub-video data units are encoded by the same encoder.
The method according to any one of claims 1 to 26, characterized in that the plurality of sub-video data units are separately encoded, comprising:

At least one of the plurality of sub-video data units is encoded using a motion compensation based video compression standard.
The method according to any one of claims 1 to 26, characterized in that the plurality of sub-video data units are separately encoded, comprising:

The plurality of sub-video data units are compressed according to different compression ratios.
The method of claim 33 wherein said compression ratio is determined based on one or more characteristics of said sub-video data unit.
A video receiving method suitable for a movable object, which is characterized in that it comprises:

Receiving a plurality of encoded sub-video data units transmitted by one or more channels;

Decoding the plurality of encoded sub-video data units;

Reconstructing the video data according to the decoded sub video data unit;

The video data includes one or more image frames, and the sub-video data unit includes at least one of a plurality of sub-images obtained by decomposing each of the image frames.
The method of claim 35, wherein said decoding said plurality of encoded sub-video data units comprises:

Decoding the plurality of encoded sub-video data units separately.
The method according to claim 35 or 36, wherein the reconstructing the video data according to the decoded sub-video data unit comprises:

Transmitting a transmission error of one or more sub-images of the decoded sub-video data unit and reconstructing the video data according to receiving the correct sub-image.
The method of claim 37, further comprising:

Decomposition mode information transmitted by the one or more channels for decomposing video data into a plurality of sub-video data units is received.
The method of claim 37, further comprising:

A value is assigned to the sub-image in which the error is transmitted in the decoded sub-video data unit.
The method of claim 39, wherein the value of the sub-picture that is transmitted in error in the decoded sub-video data unit is assigned a value of zero.
The method of claim 39, wherein said assigning a value to said sub-image of said decoded sub-video data unit that is erroneously transmitted comprises:

An interpolation method is used to determine a value assigned to the sub-image in which the error is transmitted in the decoded sub-video data unit.
The method according to claim 41, wherein said determining, by interpolation, a value assigned to said sub-image of said decoded sub-video data unit that transmits an error comprises:

Determining, according to the transmission of the correct sub-image, a value assigned to the sub-image transmitted in the decoded sub-video data unit, wherein the sub-image of the transmission error and the sub-image of the transmission are from the same image frame .
The method of any one of claims 35-42, wherein the reconstructing the video data according to the decoded sub-video data unit comprises:

The video data is reconstructed using an inverse transform.
A video transmission system suitable for a movable object, which is characterized in that it comprises:

One or more imaging devices configured to acquire video data;

One or more processors on the movable object, working alone or in concert, the one or more processors being configured to:

Evaluating one or more characteristics of one or more channels;

Decomposing video data into a plurality of sub-views based on one or more characteristics of the one or more channels a frequency data unit, wherein each sub-video data unit includes one or more sub-images;

Encoding the plurality of sub-video data units separately;

One or more of the channels are selected to transmit the encoded sub-video data unit.
The system of claim 44, wherein said video data comprises one or more image frames; and said processor, when decomposing the video data into a plurality of sub-video data units, is configured to:

Decomposing each of the one or more image frames in the video data into a plurality of sub-images, wherein each of the sub-video data units includes a plurality of sub-images obtained by each of the image frames At least one sub-image.
The system of claim 45 wherein each sub-image comprises a portion of said image frame.
The system of claim 46 wherein each of said sub-images comprises one or more pixels of said image frame.
The system of claim 46 wherein each of said sub-images comprises one or more conversion coefficients of said image frame.
A system according to claim 45, wherein said processor, when decomposing each of one or more image frames in said video data into a plurality of sub-images, is configured to:

Decomposing each of the one or more image frames in the video data into the plurality of sub-images.
The system of claim 49, wherein the processor, when decomposing each of the one or more image frames in the video data into the plurality of sub-images, is configured to:

Each of the one or more image frames in the video data is decomposed into the plurality of sub-images using a Fourier correlation transform or an orthogonal transform.
The system according to claim 50, wherein said Fourier correlation transform or orthogonal transform is from Hadamard transform, discrete cosine transform, discrete Fourier correlation transform, Walsh-Hadamard transform, Ha Determined in the transform or oblique transform.
The system of claim 49, wherein the processor, when decomposing each of the one or more image frames in the video data into the plurality of sub-images, is configured to:

Each of the one or more image frames in the video data is decomposed into the plurality of sub-images using spatial downsampling.
A system according to any of claims 44-52, characterized in that one or more characteristics of the channel comprise at least a bandwidth.
A system according to any one of claims 44-52, wherein one or more characteristics of said channel comprise at least one of the following:

Noise, interference, signal to noise ratio, bit error rate, fading rate, bandwidth.
A system according to any of claims 44-52, characterized in that one or more characteristics of the channel comprise the number of available channels or similarities.
A system according to any of claims 44-52, wherein the processor, when evaluating one or more characteristics of one or more channels, is configured to:

Detecting the signal strength or position of a movable object;

One or more characteristics of the channel are evaluated based on signal strength or position of the movable object.
A system according to any of claims 44-52, wherein said processor is capable of decomposing video data into a plurality of sub-video data units based on one or more characteristics of said one or more channels Configured as:

Decomposing the video data according to one or more evaluation characteristics of the one or more channels, and decomposing the video data into a plurality of sub-video data units according to the decomposition manner.
The system of claim 57, wherein said decomposition mode comprises at least a number of decomposed sub-video data units.
The system according to claim 57, wherein when the processor decomposes the video data into a plurality of sub-video data units according to the decomposition manner, the processor is configured to:

The video data is decomposed into a plurality of sub-video data according to the decomposition manner such that the sub-video data units have similar characteristics.
The system according to claim 57, wherein when the processor decomposes the video data into a plurality of sub-video data units according to the decomposition manner, the processor is configured to:

The video data is decomposed into a plurality of sub-video data according to the decomposition manner such that the sub-video data units have different characteristics.
The system of claim 60 wherein said sub video data unit has different characteristics comprising:

The size of the code stream data encoded by the sub video data unit or the energy concentration of the sub video data unit.
A system according to any one of claims 44-61, wherein the processor, when selecting one or more of the channels to transmit the encoded sub-video data unit, is configured to:

Decoding the encoded plurality of sub-video data units into one or more sub-video data unit groups according to one or more characteristics of the one or more channels;

One or more of the channels are selected to transmit the set of sub-video data units.
The system of claim 62 wherein each of said sub-video data unit groups comprises one or more sub-video data units.
The system of claim 62 wherein said channel is selected based on a code stream data size and a channel bandwidth of said set of data units.
The system of claim 62 wherein said channel is selected based on a priority and a channel bandwidth of said set of sub video data units.
A system according to any one of claims 57 to 61, wherein the processor is further configured to:

Information for decomposing the video data into a plurality of sub-video data units is transmitted.
The system according to claim 66, wherein said information of said decomposition mode is included in information of a plurality of sub-video data units.
The system of claim 66, wherein the processor is further configured to:

The information of the decomposition mode is encoded in a special field of the sub-picture data in the sub-video data unit.
The system according to claim 66, wherein said processor, when transmitting information for decomposing video data into a plurality of sub-video data units, is configured to:

The information of the decomposition mode is transmitted using a separate channel before transmitting the plurality of sub-video data units.
A system according to any of claims 44-69, wherein said processor is further operative to control a plurality of encoders to encode said plurality of sub-video data units.
The system of claim 70, wherein the processor is specifically configured to control the plurality of encoders to encode the plurality of sub-video data units in parallel.
The system of claim 70, wherein the processor is specifically configured to control the plurality of encoders to respectively encode the plurality of sub-video data units by using different video encoding rules.
The system of claim 70, wherein the processor is specifically configured to control the plurality of encoders to encode the plurality of sub-video data units using the same video encoding rule.
A system according to any of claims 44-69, wherein said processor is further operative to control an encoder to encode two or more of said plurality of sub-video data units.
A system according to any one of claims 44-69, wherein said processor is further operative to control an encoder to encode at least one of said plurality of sub-video data units based on a motion compensated video compression standard .
The system of any of claims 44-69, wherein the processor, when encoding the plurality of sub-video data units, is configured to:

The plurality of sub-video data units are compressed according to different compression ratios.
The system of claim 76 wherein said compression ratio is determined based on one or more characteristics of said sub-video data unit.
A system according to any one of claims 44 to 77, wherein the movable object is an unmanned aerial vehicle.
A system according to any of claims 44-77, wherein said one or more imaging devices are coupled to said movable object by a carrier.
The system of claim 79 wherein said carrier is a multi-axis joint.
A video receiving system suitable for a movable object, characterized in that it comprises:

a communication interface, a plurality of encoded sub-video data units received from one or more channels;

One or more processors, working alone or in concert, the one or more processors being configured to:

Decoding the received plurality of encoded sub-video data units;

Reconstructing the video data according to the decoded sub video data unit;

The video data includes one or more image frames, and the sub-video data unit includes at least one of a plurality of sub-images obtained by decomposing each of the image frames.
The system of claim 81, wherein the processor, when decoding the plurality of encoded sub-video data units, is configured to:

Decoding the plurality of encoded sub-video data units separately.
The system according to claim 81 or 82, wherein when the processor reconstructs the video data according to the decoded sub video data unit, the processor is configured to:

Transmitting a transmission error of one or more sub-images of the decoded sub-video data unit and reconstructing the video data according to receiving the correct sub-image.
The system of claim 83 wherein said processor is further configured to:

A value is assigned to the sub-image in which the error is transmitted in the decoded sub-video data unit.
The system of claim 84, wherein a value assigned to the sub-picture that transmitted the error in said decoded sub-video data unit is zero.
The system of claim 84, wherein said processor, when assigning a value to said sub-picture of the decoded sub-video data unit that is transmitting an error, is configured to:

An interpolation method is used to determine a value assigned to the sub-image in which the error is transmitted in the decoded sub-video data unit.
The system of claim 86, wherein the processor is configured to determine, by interpolation, a value assigned to the sub-image of the decoded sub-video data unit in which the error is transmitted, configured to:

Determining, according to the transmission of the correct sub-image, a value assigned to the sub-image transmitted in the decoded sub-video data unit, wherein the sub-image of the transmission error and the sub-image of the transmission are from the same image frame .
A system according to any one of claims 81 to 87, wherein said processor, when reconstructing said video data according to said sub-video data unit, is configured to:

The video data is reconstructed using an inverse transform.
An unmanned aerial vehicle characterized in that it comprises:

body;

a power system mounted to the fuselage for providing flight power;

And a video transmission system according to any one of claims 44-80.
A receiving device, comprising:

A video receiving system according to any of claims 81-88.