Data transmission system and method, sending end and computer readable medium

[0092] The application will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain related inventions, rather than to limit the invention. It should also be noted that, for the convenience of description, only the parts related to the related invention are shown in the drawings.

[0093] It should be noted that, in the case of no conflict, the embodiments in the present application and the features in the embodiments can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and embodiments.

[0094] figure 1 A schematic architecture diagram of an embodiment of a data transmission system according to the present application.

[0095] like figure 1 As shown, the data transmission system may include a sending end 101 , a main receiving end 102 and a broadcast receiving end 103 . The sending end 101 and the main receiving end 102 can perform data interaction through a wireless communication link. In addition, the sending end 101 can send data to the broadcast receiving end 103 through a wireless communication link.

[0096] It should be noted that the above sending end may be deployed in a movable carrier. The above-mentioned movable carriers may be electronic equipment such as ground robots and drones. Optionally, the above-mentioned movable carrier may be a traversing machine in an unmanned aerial vehicle. Among them, the traversing machine is also called the unmanned racing machine, which is a small drone with high speed and short battery life.

[0097] In practice, in addition to the above-mentioned sending end 101 deployed in the movable carrier, components such as an image acquisition device may also be installed. The sending end 101 may also acquire the image data collected by the image collection device.

[0098] It should be pointed out that the sending end 101 may send data packets to the main receiving end 102 and the broadcast receiving end 103 by using digital image transmission technology. The main receiving terminal 102 may be deployed in a control terminal used by the operator of the movable carrier (for example, a competitor in a racing machine competition scene). The control terminal can present the flying picture of the movable carrier by analyzing the data packets received by the main receiver 102 . The operator can use the control terminal of the movable carrier to control the direction, speed, height, etc. of the movable carrier according to the current flight picture.

[0099] In practice, digital image transmission refers to the process of transmitting digitized image signals through source coding and channel coding through digital channels (cables, microwaves, satellites, optical fibers, etc.), or through digital storage and recording devices. Digital video transmission usually transmits digital signals through the 2.4G frequency band or 5.8G frequency band. The biggest characteristic of digital signal in transmission is that it can be reproduced and restored multiple times without reducing the quality. Therefore, image data transmitted through digital video transmission can guarantee the picture quality of video.

[0100] In addition, the broadcast receiving end 103 can be deployed in a display device used by viewers of the movable carrier (such as spectators in the racing machine competition scene, other players who are not currently participating in the competition, etc.). The display device can present the flying picture of the movable carrier by receiving the data packet received by the broadcast receiving end 103 for viewers to watch.

[0101] Understandably, figure 1 The number of broadcast receivers in is illustrative only. There can be any number of broadcast receivers according to implementation requirements.

[0102] In this embodiment, the above-mentioned sending end 101 may be configured to send continuous data packets to the main receiving end 102 and the broadcast receiving end 103 respectively in the current data transmission cycle.

[0103] In this embodiment, each data transmission period may include downlink transmission time slots and uplink transmission time slots. Wherein, the total number of data packets that can be transmitted in the downlink transmission time slot can be preset (for example, 10 data packets or image frames can be transmitted). Here, the downlink transmission time slots may be pre-divided into normal time slots and redundant time slots. A normal time slot can be regarded as a time slot occupied by transmitting newly acquired multiple consecutive data packets (for example, 6 data packets or image frames). A redundant time slot can be regarded as a time slot occupied by transmitting a preset number of target data packets (for example, 4 target data packets or image frames). Here, the continuous data packets or image frames sent by the sending end 101 to the main receiving end 102 and the broadcast receiving end 103 may be data packets or image frames sent in normal time slots of the current data transmission time slot.

[0104] In this embodiment, the main receiving end 102 may feed back response information to the above-mentioned sending end 101 for each data packet. Specifically, each time the main receiving end 102 receives a data packet, it may return a response message for the data packet to the sending end 101 . The response information can be used to indicate whether the data packet is successfully received or whether the data packet is incorrect.

[0105] It should be noted that the number of data packets transmitted in the normal time slot and the redundant time slot can be preset respectively according to needs, and is not limited to the values ​​in the above examples. For example, the proportions may be arranged in such a manner that the time slot ratios of normal time slots and redundant time slots are 7:3, 13:6, 14:5, and 5:5. Generally speaking, considering that the main receiver as the operator control terminal needs to obtain a more stable and higher-quality data source while ensuring a certain channel efficiency, it is appropriate to adopt a time slot ratio such as 6:4.

[0106] In this embodiment, the sending end 101 may also determine the target data packet in the foregoing continuous data packets based on the acquired response information. Here, the target data packet is the data packet to be resent to the main receiver 102 and the broadcast receiver 103 . That is, the target data packets transmitted in the redundant time slots of each data transmission cycle. Since the response information can be used to represent whether the data packet is successfully received or whether the data packet is error-prone, the data packet corresponding to the response information used to represent the failure of reception or the error of the data packet can be used as the target data packet. After determining the target data packet, the sending end 101 may send the above target data packet to the above-mentioned main receiving end and the above-mentioned broadcast receiving end within the above-mentioned current data transmission cycle.

[0107] Thus, the sending end 101 can determine the target data packet that needs to be retransmitted according to the response information of the main receiving end 102 to each data packet and retransmit it, so that when a certain data packet is wrong, the broadcast receiving end 103 can receive it again. to the packet. For the broadcast receiving end 103, although it is impossible to feed back the received image transmission information to the sending end, by means of retransmission, when the image transmission information received for the first time is lost or cannot be decoded correctly, through Retransmitting data corrects errors in image transmission information, and this process can improve the robustness of transmission information without wasting transmission bandwidth.

[0108] Optionally, the foregoing response information may be NAK (Negative Acknowledgment, negative response) or ACK (Acknowledgment, positive response). Among them, NAK is a signal used in digital communication to confirm that data is received but has a small error. ACK is a signal in data communication that indicates that the data packet has been confirmed to be received without error.

[0109] Optionally, the sending end 101 may further determine the target data packet through the following steps:

[0110] First, it is determined whether the number of data packets whose response information is NAK is less than a preset number (for example, 4). Here, the preset number is a preset number of data packets (that is, target data packets) that need to be retransmitted in each data transmission cycle. That is, the number of target data packets transmitted in the redundant time slot of each data transmission cycle.

[0111] If not, from the determined data packets whose response information is NAK, select the above-mentioned preset number of data packets as target data packets. For example, if the preset number is 4, and the number of data packets whose response information is NAK is also 4, then these 4 data packets whose response information is NAK may all be used as target data packets. If the number of NAK data packets is also five, four data packets may be selected as target data packets. Here, it may be selected randomly, or may be selected according to other preset rules or sequences (for example, according to the sequence of sending time from early to late), and the selection method is not limited here. Therefore, when data transmission is carried out by means of data digital image transmission, the wrong data packets can be determined according to the response information of the main receiving end, and these data packets can be retransmitted, which reduces the video freeze phenomenon at the broadcast receiving end and improves the The smoothness of the screen display at the broadcast receiving end.

[0112] Optionally, the sending end 101, in response to determining that the number of data packets whose response information is NAK is less than the preset number, selects the data packets whose response information is NAK as the target data packet, and selects the target number of data packets from the remaining data packets The data packet is used as the target data packet. Wherein, the above-mentioned target number is a difference between the above-mentioned preset number and the number of data packets whose response information is NAK. The above remaining data packets may be data packets that have been sent in the current data transmission cycle and whose response information is not NAK. As an example, if there is only one data packet whose response information is NAK, three data packets may be selected as target data packets from the remaining data packets, and resent. As a result, not only the video freeze phenomenon at the broadcast receiving end is reduced, but the smoothness of the screen display at the broadcast receiving end is improved, and at the same time, the channel capacity of the current data transmission cycle can be fully utilized.

[0113] Optionally, the operation of selecting the target data packet from the remaining data packets by the sending end 101 may be performed through the following steps: first, from the remaining data packets, determine the data packets for which corresponding response information has not been received. Afterwards, from the unreceived data packets corresponding to the response information, select the data packets of the target number as the target data packets according to the order of the times of sending from small to large.

[0114] Here, since the data packet whose response information is NAK has been determined as the target data packet, the remaining data packets only include data packets whose corresponding response information has not been received and data packets whose response information is ACK. If the response information corresponding to a data packet is ACK, it can generally be considered that the data packet is correct. Since the transmission of the ACK has a certain time delay, the data packets for which the corresponding response information has not been received may be ACK or NAK. In this way, the target data packet is selected from the data packets for which the corresponding response information has not been received, so that the error data packet can be determined with a higher probability. In addition, the higher the number of sending times, the higher the probability of successful sending. Therefore, by selecting from small to large, data packets with fewer transmission times can be preferentially selected, and data packets with errors can be determined with a higher probability.

[0115] Optionally, in response to determining that there are at least two data packets with the same number of times of sending among the data packets for which no corresponding response information has been received, the above-mentioned at least two data packets are processed according to the order of sending time from first to last. select. Thus, when multiple data packets are sent for the same number of times, the one sent earlier can be preferentially selected, so that the data packet sent earlier can be received as soon as possible.

[0116] Optionally, the above-mentioned sending end 101 may also select a continuous preset number (for example, 4) of data packets from the data packet corresponding to the first received NAK as the target data packets. As an example, after the sending end 101 sends consecutive data packets 1, 2, 3, 4, 5, and 6, the response information returned by each data packet in turn is NAK, NAK, ACK, ACK, ACK, ACK, the data packet corresponding to the first received NAK is NAK. At this time, data packet 1 may be used as a starting data packet, and four consecutive data packets starting from data packet 1 (that is, data packet 1, data packet 2, data packet 3, and data packet 4) may be used as target data packets.

[0117] In practical applications, usually after an error occurs in one data packet, errors will also occur in one or more subsequent data packets. Therefore, this method can more conveniently determine the target data packet and improve the data processing efficiency.

[0118] Optionally, the above-mentioned main receiver 102 may also perform the following steps: for each received data packet, determine whether the data packet has been successfully received; if so, discard the data packet; if not, store the data packet . Here, each data packet may have an identifier (such as a sequence number) used to indicate and distinguish the data packet. The above-mentioned main receiving end 102 can determine whether the data packet has been successfully received by matching the identifiers.

[0119] Optionally, the above-mentioned broadcast receiver 103 can also, for each data packet received, determine whether the data packet is a historical data packet received in error; if not, discard the data packet; if so, use the hybrid automatic retransmission request (Hybrid Automatic Repeat reQuest, HARQ) technology, the data packet is combined with the above-mentioned historical data packet, and the combined data packet is decoded.

[0120] Here, HARQ is a technology formed by combining forward error correction coding (Forward Error Correction, FEC) and automatic repeat request (Automatic Repeat Request, ARQ). Among them, FEC is a method to increase the reliability of data communication. In a one-way communication channel, once an error is detected, its receiver has no right to request transmission. FEC is a method of using data to transmit redundant information. When an error occurs during transmission, it will allow the receiver to reconstruct the data. ARQ is to restore the erroneous message by requesting the sender to retransmit the erroneous data message by the receiver. It is one of the methods used to deal with the errors caused by the channel in communication, and is sometimes called backward error correction (Backward Error Correction). Correction, BEC). Through the HARQ technology, the broadcast receiving end can correct the errors in the corresponding historical data packets by using a complementary deletion method based on the currently received data packets, so as to obtain a merged error-free data packet. HARQ supports decoding each data packet individually, and also supports combining and decoding a data packet with greater redundant information.

[0121] By using the HARQ technology, combining the data packet with the above-mentioned historical data packet can correct errors in the historical data packet and improve the accuracy of the data packet. In turn, the video freeze phenomenon at the broadcast receiving end is reduced, and the smoothness of the screen display at the broadcast receiving end is improved.

[0122] In the data transmission system provided by the above-mentioned embodiments of the present application, the sending end deployed in the removable carrier sends continuous data packets to the main receiving end and the broadcast receiving end respectively in the current data transmission cycle, and receives the above-mentioned main receiving end The terminal responds to the response information fed back by each data packet, and then determines the target data packet in the above-mentioned continuous data packets based on the received response information, and finally, in the above-mentioned current data transmission cycle, sends the above-mentioned main receiving terminal and the above-mentioned broadcast receiving terminal Send the above target data packets, so that according to the response information of each data packet from the main receiving end, the target data packets that need to be retransmitted can be determined and retransmitted, so that when a certain data packet is wrong, the broadcast receiving end can receive it again This data packet reduces the video freeze phenomenon at the broadcast receiving end and improves the smoothness of the broadcast receiving end screen display.

[0123] Please refer to figure 2 , which shows a process 200 according to an embodiment of the data transmission method of the present application. The data transmission method is applied to a sending end, and the sending end can be deployed in a movable carrier, and the aforementioned movable carrier can be electronic equipment such as ground robots and drones. Optionally, the above-mentioned movable carrier may be a traversing machine in an unmanned aerial vehicle. The process of this embodiment includes the following steps:

[0124] Step 201 , within the current data transmission period, send consecutive data packets to the main receiving end and the broadcast receiving end respectively, and receive response information fed back by the main receiving end for each data packet.

[0125] In this embodiment, the execution body of the data transmission method (such as figure 1 The sending end 101) in the current data transmission cycle, respectively, to the main receiving end (for example figure 1 The main receiving end 102 in) and the broadcasting receiving end (such as figure 1 The main receiving end 103) in the method sends continuous data packets, and receives the response information fed back by the above-mentioned main receiving end for each data packet.

[0126] In practice, after each data packet is received by the main receiving end, a response message for the data packet can be returned to the above-mentioned execution subject. The response information can be used to indicate whether the data packet is successfully received or whether the data packet is incorrect.

[0127] In this embodiment, each data transmission period may include downlink transmission time slots and uplink transmission time slots. Wherein, the total number of data packets that can be transmitted in the downlink transmission time slot can be preset (for example, 10 data packets can be transmitted). Here, the downlink transmission time slots may be pre-divided into normal time slots and redundant time slots. A normal time slot can be regarded as a time slot occupied by transmitting a plurality of newly acquired continuous data packets (for example, 6 data packets). A redundant time slot can be regarded as a time slot occupied by transmitting a preset number of target data packets (for example, 4 target data packets). Here, the continuous data packets sent by the execution subject to the main receiver and the broadcast receiver may be data packets sent in a normal time slot of the current data transmission time slot.

[0128] It should be noted that the number of data packets transmitted in the normal time slot and the redundant time slot can be preset respectively according to needs, and is not limited to the values ​​in the above examples.

[0129] Step 202, based on the received response information, determine a target data packet in consecutive data packets.

[0130] In this embodiment, the execution subject may also determine the target data packet in the continuous data packets based on the obtained response information. Here, the target data packet is the data packet to be resent to the main receiver and the broadcast receiver. That is, the target data packets transmitted in the redundant time slots of each data transmission cycle.

[0131] Since the response information can be used to represent whether the data packet is successfully received or whether the data packet is error-prone, the data packet corresponding to the response information used to represent the failure of reception or the error of the data packet can be used as the target data packet.

[0132] Step 203: Send the target data packet to the main receiver and the broadcast receiver in the current data transmission period.

[0133] In this embodiment, after the target data packet is determined, the execution subject may send the target data packet to the main receiver and the broadcast receiver within the current data transmission cycle. Thus, the execution subject can determine the target data packet that needs to be retransmitted according to the response information of the main receiving end to each data packet and retransmit it, so that when a certain data packet is wrong, the broadcast receiving end can receive the data packet again. The data packet reduces the video freeze phenomenon at the broadcast receiving end and improves the smoothness of the broadcast receiving end screen display.

[0134] In the data transmission method provided by the above-mentioned embodiments of the present application, the sending end deployed in the removable carrier sends continuous data packets to the main receiving end and the broadcast receiving end respectively in the current data transmission cycle, and receives the above-mentioned main receiving end. The terminal responds to the response information fed back by each data packet, and then determines the target data packet in the above-mentioned continuous data packets based on the received response information, and finally, in the above-mentioned current data transmission cycle, sends the above-mentioned main receiving terminal and the above-mentioned broadcast receiving terminal Send the above target data packets, so that according to the response information of each data packet from the main receiving end, the target data packets that need to be retransmitted can be determined and retransmitted, so that when a certain data packet is wrong, the broadcast receiving end can receive it again This data packet reduces the video freeze phenomenon at the broadcast receiving end and improves the smoothness of the broadcast receiving end screen display.

[0135] further reference image 3 , which shows a flow 300 of another embodiment of the data transmission method. The process 300 of the data transmission method is applied to a sending end, and the sending end may be deployed in a movable carrier, and the aforementioned movable carrier may be electronic equipment such as ground robots and drones. Optionally, the above-mentioned movable carrier may be a traversing machine in an unmanned aerial vehicle. The process of this embodiment includes the following steps:

[0136] Please refer to image 3 , which shows a process 300 of an embodiment of the data transmission method according to the present application. The data transmission method, applied to the execution subject, includes the following steps:

[0137] Step 301 , within the current data transmission cycle, respectively send continuous data packets to the main receiving end and the broadcast receiving end, and receive response information fed back by the main receiving end for each data packet.

[0138] In this embodiment, the response information may be NAK or ACK.

[0139] It should be noted that the operation of step 301 is basically the same as the operation of step 201, and will not be repeated here.

[0140] Step 302, determine whether the number of data packets whose response information is NAK is less than a preset number.

[0141] In this embodiment, the execution body of the data transmission method (such as figure 1 The execution subject 101) in may determine whether the number of data packets whose response information is NAK is less than a preset number (for example, 4). Here, the preset number is a preset number of data packets (that is, target data packets) that need to be retransmitted in each data transmission cycle. That is, the number of target data packets transmitted in the redundant time slot of each data transmission cycle.

[0142] Here, step 303 may be executed in response to determining that the number of data packets whose response information is NAK is not less than the preset number (that is, greater than or equal to the preset number). In response to determining that the number of data packets whose response information is NAK is less than the preset number, step 304 may be executed.

[0143] Step 303, in response to determining that the number of data packets whose response information is NAK is not less than a preset number, select a preset number of data packets from the determined data packets whose response information is NAK as target data packets.

[0144] In this embodiment, in response to determining that the number of data packets whose response information is NAK is not less than the above-mentioned preset number, the execution subject may select the above-mentioned preset number of data packets from the data packets whose response information is determined to be NAK , as the target packet.

[0145] For example, if the preset number is 4, and the number of data packets whose response information is NAK is also 4, then these 4 data packets whose response information is NAK may all be used as target data packets. If the number of NAK data packets is also five, four data packets may be selected as target data packets. Here, it may be selected randomly, or may be selected according to other preset rules or sequences (for example, according to the sequence of sending time from early to late), and the selection method is not limited here.

[0146]Therefore, when data transmission is carried out by means of data digital image transmission, the wrong data packets can be determined according to the response information of the main receiving end, and these data packets can be retransmitted, which reduces the video freeze phenomenon at the broadcast receiving end and improves the The smoothness of the screen display at the broadcast receiving end.

[0147] Step 304, in response to determining that the number of data packets whose response information is NAK is less than a preset number, select the data packets whose response information is NAK as the target data packet, and, from the remaining data packets, select a target number of data packets as the target data Bag.

[0148] In this embodiment, in response to determining that the number of data packets whose response information is NAK is less than the aforementioned preset number, the execution subject may select each data packet whose response information is NAK as a target data packet, and, from the remaining data packets, Pick the target number of packets as the target packets. Wherein, the above-mentioned target number is a difference between the above-mentioned preset number and the number of data packets whose response information is NAK. The above remaining data packets may be data packets that have been sent in the current data transmission period and whose response information is not NAK.

[0149] As an example, if there is only one data packet whose response information is NAK, three data packets may be selected as target data packets from the remaining data packets, and resent. As a result, not only the video freeze phenomenon at the broadcast receiving end is reduced, but the smoothness of the screen display at the broadcast receiving end is improved, and the channel capacity of the current data transmission cycle can be fully utilized at the same time.

[0150] In some optional implementations of this embodiment, the operation of selecting the target data packet from the above remaining data packets can be performed through the following steps: first, it can be determined from the remaining data packets that the data corresponding to the response information has not been received Bag. Afterwards, from the unreceived data packets corresponding to the response information, a target number of data packets may be selected as the target data packets in an ascending order of the times of sending.

[0151] Here, since the data packet whose response information is NAK has been determined as the target data packet, the remaining data packets only include data packets whose corresponding response information has not been received and data packets whose response information is ACK. If the response information corresponding to a data packet is ACK, it can generally be considered that the data packet is correct. Since the transmission of the ACK has a certain delay, the data packets for which the corresponding response information has not been received may be ACK or NAK. In this way, the target data packet is selected from the data packets for which the corresponding response information has not been received, so that the error data packet can be determined with a higher probability. In addition, because the more times of sending, generally the higher the probability of successful sending. Therefore, by selecting from small to large, data packets with fewer transmission times can be preferentially selected, and data packets with errors can be determined with a higher probability.

[0152] In some optional implementations of this embodiment, in response to determining that there are at least two data packets with the same number of times of sending among the data packets for which no corresponding response information has been received, the execution subject may start from the first according to the sending time. In the last sequence, the above at least two data packets are selected. Thus, when multiple data packets are sent for the same number of times, the one sent earlier can be preferentially selected, so that the data packet sent earlier can be received as soon as possible.

[0153] Step 305: Send the target data packet to the main receiver and the broadcast receiver in the current data transmission cycle.

[0154] In this embodiment, after the target data packet is determined, the execution subject may send the target data packet to the main receiver and the broadcast receiver within the current data transmission cycle. Thus, the execution subject can determine the target data packet that needs to be retransmitted according to the response information of the main receiving end to each data packet and retransmit it, so that when a certain data packet is wrong, the broadcast receiving end can receive the data packet again. The data packet reduces the video freeze phenomenon at the broadcast receiving end and improves the smoothness of the broadcast receiving end screen display.

[0155] from image 3 It can be seen from the figure 2 Compared with the corresponding embodiment, the process 300 of the data transmission method in this embodiment involves the step of selecting a target data packet based on the number of data packets whose response information is NAK. Therefore, the solution described in this embodiment reduces the video freeze phenomenon at the broadcast receiving end, improves the fluency of the screen display at the broadcast receiving end, and can also make full use of the channel capacity of the current data transmission cycle.

[0156] further reference Figure 4 , which shows a flow 400 of another embodiment of the data transmission method. The process 400 of the data transmission method is applied to a sending end, and the sending end can be deployed in a movable carrier, and the aforementioned movable carrier can be electronic equipment such as ground robots and drones. Optionally, the above-mentioned movable carrier may be a traversing machine in an unmanned aerial vehicle. The process of this embodiment includes the following steps:

[0157] Please refer to Figure 4 , which shows a process 400 of an embodiment of the data transmission method according to the present application. The data transmission method is applied to the sending end and includes the following steps:

[0158] Step 401 , within the current data transmission cycle, respectively send continuous data packets to the main receiving end and the broadcast receiving end, and receive response information fed back by the main receiving end for each data packet.

[0159] In this embodiment, the response information may be NAK or ACK.

[0160] It should be noted that the operation of step 401 is basically the same as the operation of step 201, and will not be repeated here.

[0161] Step 402, starting from the data packet corresponding to the first received NAK, select a continuous preset number of data packets as target data packets.

[0162] In this embodiment, the execution subject may also select a preset number (for example, 4) of continuous data packets from the data packet corresponding to the first received NAK as the target data packets.

[0163] As an example, Figure 5 A schematic diagram of the packet transmission process is shown. exist Figure 5 In the above execution body (ie Figure 5 In the sending end) in the normal time slot can transmit newly acquired continuous 6 data packets. The previously transmitted 4 data packets can be retransmitted in redundant time slots. First, the sender sends 6 data packets to the main receiver and the broadcast receiver in sequence (such as Figure 5 1-6 in the normal time slot). When the main receiving end receives the data packet, it will feed back the response information to the sending end (as shown by the dotted line in the figure).

[0164] like Figure 5 As shown, the response information of the first data packet received by the main receiving end is NAK, then the main receiving end can select 4 consecutive data packets starting from the first data packet (such as Figure 5 1-4 in the redundant time slot), as the target data packet, each target data packet is sent to the main receiver and the broadcast receiver in sequence in the redundant time slot.

[0165] In practical applications, usually after an error occurs in one data packet, errors will also occur in one or more subsequent data packets. Therefore, this method can more conveniently determine the target data packet and improve the data processing efficiency.

[0166] Step 403: Send the target data packet to the main receiver and the broadcast receiver in the current data transmission period.

[0167] In this embodiment, after the target data packet is determined, the execution subject may send the target data packet to the main receiver and the broadcast receiver within the current data transmission period. Thus, the execution subject can determine the target data packet that needs to be retransmitted according to the response information of the main receiving end to each data packet and retransmit it, so that when a certain data packet is wrong, the broadcast receiving end can receive the data packet again. The data packet reduces the video freeze phenomenon at the broadcast receiving end and improves the smoothness of the broadcast receiving end screen display.

[0168] from Figure 4 It can be seen from the figure 2 Compared with the corresponding embodiment, the process 400 of the data transmission method in this embodiment involves the step of selecting a continuous preset number of data packets from the data packet corresponding to the first received NAK as the target data packet. In practical applications, usually after an error occurs in one data packet, errors will also occur in one or more subsequent data packets. Therefore, this method can more conveniently determine the target data packet and improve the data processing efficiency.

[0169] further reference Image 6 , as the implementation of the methods shown in the above figures, the present application provides an embodiment of a sending end, the device embodiment is the same as figure 2 Corresponding to the shown method embodiments, the sending end can be specifically applied to a removable carrier. The sending end may specifically include: a processor 601 and a memory 602 . The sending end may be a removable carrier, or a part of the removable carrier. The above-mentioned movable carriers may be electronic equipment such as ground robots and drones. Optionally, the above-mentioned movable carrier may be a traversing machine in an unmanned aerial vehicle.

[0170] The aforementioned memory 601 may be used to store program instructions.

[0171] The above-mentioned processor 602 can be used to execute the program instructions stored in the above-mentioned memory. When the program instructions are executed, the above-mentioned processor 602 can be used to perform the following steps: in the current data transmission cycle, respectively send the main receiving end and the broadcast receiving end Send continuous data packets, and receive the response information fed back by the above-mentioned main receiving end for each data packet; based on the received response information, determine the target data packet in the above-mentioned continuous data packets; The above-mentioned main receiving end and the above-mentioned broadcast receiving end send the above-mentioned target data packet.

[0172] In some optional implementation manners of this embodiment, the above response information may be a negative acknowledgment NAK or an affirmative acknowledgment ACK. The processor 602 may be further configured to: determine whether the number of data packets whose response information is NAK is less than a preset number; if not, select the above-mentioned preset number of data packets from the determined data packets whose response information is NAK, as the target packet.

[0173] In some optional implementations of this embodiment, the processor 602 may be further configured to: select the data packets whose response information is NAK as the target in response to determining that the number of data packets whose response information is NAK is less than the preset number data packets, and selecting a target number of data packets from the rest of the data packets as target data packets, wherein the target number is the difference between the preset number and the number of data packets whose response information is NAK.

[0174] In some optional implementations of this embodiment, the above-mentioned processor 602 may be further configured to: from the remaining data packets, determine the data packets for which corresponding response information has not been received; In the data packets of the information, according to the order of the number of times sent from small to large, select the target number of data packets as the target data packets

[0175] In some optional implementations of this embodiment, the processor 602 may be further configured to: in response to determining that there are at least two data packets with the same number of times of sending among the data packets for which corresponding response information has not been received, The above at least two data packets are selected according to the order of sending time from first to last.

[0176] In some optional implementation manners of this embodiment, the above response information is NAK or ACK. The above-mentioned processor 602 may be further configured to: select a continuous preset number of data packets starting from the data packet corresponding to the first received NAK as target data packets.

[0177]The sending end provided by the above-mentioned embodiments of the present application sends continuous data packets to the main receiving end and the broadcast receiving end respectively within the current data transmission period, and receives the response information fed back by the main receiving end for each data packet, Then, based on the received response information, determine the target data packet in the above-mentioned continuous data packets, and finally send the above-mentioned target data packet to the above-mentioned main receiving end and the above-mentioned broadcast receiving end within the above-mentioned current data transmission cycle, thereby, according to The main receiving end determines the target data packet that needs to be retransmitted and retransmits the response information of each data packet, so that when a data packet is wrong, the broadcast receiving end can receive the data packet again, reducing the broadcast receiving end. The video freeze phenomenon improves the smoothness of the screen display at the broadcast receiving end.

[0178] As for the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and for related parts, please refer to the part of the description of the method embodiment.

[0179] further reference Figure 7 , Figure 7 A schematic architecture diagram of an embodiment of a video transmission data transmission system according to the present application.

[0180] like Figure 7 As shown, the image transmission data transmission system may include a sending end 701 , a first receiving end 702 and a second receiving end 703 . The sending end 701 and the first receiving end 702 may perform data interaction through a wireless communication link. In addition, the sending end 701 may send data to the second receiving end 703 through a wireless communication link.

[0181] Optionally, the above sending end may be deployed in a movable carrier. The above-mentioned movable carriers may be electronic equipment such as ground robots and drones. Optionally, the above-mentioned movable carrier may be a traversing machine in an unmanned aerial vehicle. Among them, the traversing machine is also called the unmanned racing machine, which is a small drone with high speed and short battery life. The first receiving terminal 702 may be deployed in a control terminal used by the operator of the movable carrier (for example, a competitor in a racing machine competition scene). The second receiving terminal 703 may be deployed in a display device used by viewers of the movable carrier (for example, spectators in the racing machine competition scene, other players who are not participating in the current competition, etc.).

[0182] Understandably, Figure 7 The number of second receivers in is illustrative only. There may be any number of second receiving ends according to implementation requirements.

[0183] In this embodiment, the sending end 701 may be configured to send image transmission data to the first receiving end and the second receiving end within a first period of a data transmission cycle. Wherein, each data transmission period may include a first period and a second period. Among them, the transmission of video transmission data can be performed in the first period of time. The retransmission data in the video transmission data can be transmitted in the second time period. It should be noted that the number of data packets transmitted in the first time period and the second time period can be respectively preset according to needs. For example, the ratio may be arranged in such a manner that the duration ratio of the first time period to the second time period is 7:3, 13:6, 14:5, or 5:5. Generally speaking, considering that the first receiving end as the operator control end needs to obtain a more stable and higher-quality data source while ensuring a certain channel efficiency, it is appropriate to adopt a time slot ratio such as 6:4.

[0184] It should be noted that the above-mentioned sending end 701 may be used to send image transmission data in continuous data transmission periods. Wherein, each data transmission period may include a first period and a second period.

[0185] In this embodiment, the above-mentioned first receiving end 702 may be configured to send response information to the above-mentioned sending end according to the receiving situation of the above-mentioned image transmission data. And, the sending end 701 may be further configured to determine, based on the received response information, the retransmission data that needs to be retransmitted among the image transmission data sent in the first period; A receiving end and the second receiving end send the retransmission data.

[0186] Thus, the sending end 701 can determine the retransmission data that needs to be retransmitted according to the response information of the first receiving end 702 to the video transmission data and retransmit it, so that when a certain data in a certain video transmission data (such as data frame) error, the second receiving end 703 can receive the data again. For the second receiving end 703, although it is impossible to feed back the received image transmission data to the sending end, by receiving and retransmitting, in the case that the image transmission data received for the first time is lost or cannot be decoded correctly, Retransmitting data corrects errors in image transmission data. This process can improve the robustness of transmitted information without wasting transmission bandwidth.

[0187] Optionally, the above video transmission data may be sent through digital video transmission technology. The biggest characteristic of digital signal in transmission is that it can be reproduced and restored multiple times without reducing the quality. Therefore, image data transmitted through digital video transmission can guarantee the picture quality of video.

[0188] Optionally, the number of data frames transmitted during the first period may be greater than the number of data frames transmitted during the second period. Therefore, it can ensure that more video transmission data is transmitted to the first receiving end 702 and the second receiving end 703 .

[0189] Optionally, the number of data frames transmitted during the first period may be equal to the number of data frames transmitted during the second period. Therefore, it is possible to support the transmission of all the data frames in the video transmission data as retransmission data when all the data frames in the video transmission data transmitted in the first period are wrong, which further improves the robustness of the transmission information .

[0190] Optionally, each data frame in the above image transmission data corresponds to a response message. Thus, through a certain response information, the reception status of the data frame corresponding to the response information can be determined.

[0191] Optionally, each response message includes at least: ACK or NAK.

[0192] Optionally, the sending end 701 may be further configured to determine, according to the NAK, the retransmission data that needs to be retransmitted among the image transmission data sent in the first period.

[0193] Optionally, the sending end 701 may be further configured to use the data frame in the video transmission data corresponding to the NAK as the retransmission data.

[0194] Optionally, the sending end 701 may be further configured to select the remaining data frames in the above-mentioned video transmission data to fill the above-mentioned second period. For example, the number of data frames transmitted in the second period is 4. When the number of data frames in the image transmission data corresponding to NAK is 1, it is necessary to select 3 data frames among the remaining data frames in the above image transmission data, and combine the data frames in the image transmission data corresponding to NAK with the selected The 3 data frames are used as retransmission data. Thus, the channel capacity of the data transmission cycle can be fully utilized.

[0195] Optionally, the sending end 701 may be further configured to randomly select remaining data frames in the video transmission data to fill the second time period.

[0196] Optionally, the sending end 701 may be further configured to select the remaining data frames in the video transmission data in order of sending time to fill the second time period.

[0197] Optionally, the sending end 701 may be further configured to select the remaining data frames in the video transmission data in reverse order of sending time to fill the second time period.

[0198] Optionally, the above-mentioned sending end 701 may be further configured to receive the above-mentioned response information in a time-division multiplexing (time-division multiplexing, TDM) manner. In practice, time-division multiplexing refers to a technology that simultaneously transmits multiple digitized data, voice and video signals, etc. on the same communication medium through cross-bit pulses in different channels or time slots.

[0199] Optionally, the sending end 701 may be further configured to divide the first time period into a downlink sending time period and an uplink receiving time period, and only transmit the above-mentioned image transmission data during the downlink sending time period, and transmit the above-mentioned image transmission data during the above-mentioned uplink receiving time period Only the response information from the first receiving end is received.

[0200] In the image transmission data transmission system provided by the above-mentioned embodiments of the present application, the image transmission data is sent to the first receiving end and the second receiving end through the sending end in the first period of a data transmission cycle; then the first receiving end transmits the image transmission data according to the The receiving status of the above-mentioned image transmission data sends a response message to the sender; finally, based on the received response information, the sender determines the retransmission data that needs to be retransmitted in the image transmission data sent in the first period of time, and In the second period of the cycle, the retransmission data is sent to the first receiving end and the second receiving end. Therefore, according to the response information of the first receiving end to the video transmission data, the retransmission data that needs to be retransmitted can be determined and retransmitted, so that when a certain data frame in a certain video transmission data is wrong, the second receiving end The data frame can be received again, reducing the video freeze phenomenon of the second receiving end, and improving the fluency of the picture display of the second receiving end.

[0201] further reference Figure 8 , which shows a process 800 of an embodiment of the video transmission data transmission method according to the present application. The image transmission data transmission method is applied to an image transmission data transmission system, and the above system includes a sending end, a first receiving end and a second receiving end. Optionally, the sending end may be deployed in a movable carrier, and the movable carrier may be electronic equipment such as a ground robot or an unmanned aerial vehicle. Wherein, the above-mentioned movable carrier may be a traversing machine in an unmanned aerial vehicle.

[0202] The process of this embodiment includes the following steps:

[0203] In step 801, the sending end sends image transmission data to the first receiving end and the second receiving end within a first period of a data transmission cycle.

[0204] Step 802, the first receiving end sends response information to the sending end according to the reception status of the image transmission data;

[0205] Step 803, based on the received response information, the sending end determines the retransmission data that needs to be retransmitted among the image transmission data sent in the first period; Send retransmission data.

[0206] In some optional implementation manners of this embodiment, the above-mentioned sending end may send video transmission data in continuous data transmission periods.

[0207] In some optional implementation manners of this embodiment, the foregoing video transmission data may be sent by using a digital video transmission technology.

[0208] In some optional implementation manners of this embodiment, the number of data frames transmitted during the first period is greater than the number of data frames transmitted during the second period.

[0209] In some optional implementation manners of this embodiment, the number of data frames transmitted during the first period is equal to the number of data frames transmitted during the second period.

[0210] In some optional implementation manners of this embodiment, each data frame in the above video transmission data corresponds to one piece of response information.

[0211] In some optional implementation manners of this embodiment, each piece of response information includes at least: ACK or NAK.

[0212] In some optional implementations of this embodiment, based on the received response information, determining the retransmission data that needs to be retransmitted among the image transmission data sent in the first period includes: determining the data to be sent in the first period according to the NAK The retransmission data that needs to be retransmitted in the image transmission data.

[0213] In some optional implementations of this embodiment, the determination of the retransmission data that needs to be retransmitted in the video transmission data sent in the first period according to the NAK includes: using the data frame in the video transmission data corresponding to the NAK as the retransmission data frame. transfer data.

[0214]In some optional implementations of this embodiment, the determination of the retransmission data that needs to be retransmitted in the image transmission data sent in the first period according to the NAK further includes: when the data frame in the image transmission data corresponding to the NAK When the number is less than the number of data frames transmitted in the second period, select the remaining data frames in the video transmission data to fill the second period.

[0215] In some optional implementation manners of this embodiment, the selecting the remaining frames in the video transmission data to fill the second period includes: randomly selecting the remaining data frames in the video transmission data to fill the second period.

[0216] In some optional implementations of this embodiment, the selection of the remaining frames in the video transmission data to fill the second period includes: selecting the remaining data frames in the video transmission data in order of sending time to fill the second period Second period.

[0217] In some optional implementations of this embodiment, the selection of the remaining frames in the video transmission data to fill the second period includes: selecting the remaining data frames in the video transmission data in reverse order of sending time to fill the second period Second period.

[0218] In some optional implementation manners of this embodiment, the above-mentioned sending end may receive the above-mentioned response information in a time division multiplexing manner.

[0219] In some optional implementations of this embodiment, the above-mentioned receiving the above-mentioned response information through time division multiplexing includes: dividing the above-mentioned first time period into a downlink sending time period and an uplink receiving time period, and during the above-mentioned downlink sending time period Only the above-mentioned video transmission data is sent, and only the response information from the first receiving end is received within the above-mentioned uplink receiving time period.

[0220] It should be noted that the specific operations performed by the sending end, the first receiving end and the second receiving end in this embodiment can be found in Figure 7 The description in the embodiment will not be repeated here.

[0221] In the image transmission data transmission method provided by the above-mentioned embodiments of the present application, the transmission end transmits the image transmission data to the first receiving end and the second receiving end during the first period of a data transmission cycle; then the first receiving end transmits the image transmission data according to The receiving status of the above-mentioned image transmission data sends a response message to the sender; finally, based on the received response information, the sender determines the retransmission data that needs to be retransmitted in the image transmission data sent in the first period of time, and In the second period of the cycle, the retransmission data is sent to the first receiving end and the second receiving end. Therefore, according to the response information of the first receiving end to the image transmission data, the retransmission data that needs to be retransmitted can be determined and retransmitted, so that when a data frame in the image transmission data is wrong, the second receiving end can retransmit After receiving the data frame, the video freeze phenomenon of the second receiving end is reduced, and the fluency of the picture display of the second receiving end is improved.

[0222] further reference Figure 9 , which shows a process 900 of an embodiment of the video transmission data sending method according to the present application. The image transmission data sending method is applied to the sending end of the image transmission data (such as Figure 7 The sending end 701 is shown). Optionally, the sending end may be deployed in a movable carrier, and the movable carrier may be electronic equipment such as a ground robot or an unmanned aerial vehicle. Wherein, the above-mentioned movable carrier may be a traversing machine in an unmanned aerial vehicle.

[0223] The process of this embodiment includes the following steps:

[0224] Step 901: Send video transmission data in the form of digital video transmission during a first period of time in a data transmission cycle.

[0225] In this embodiment, the execution subject of the video transmission data sending method (the transmission end of the video transmission data) may send the video transmission data in the form of digital video transmission in the first period of time within a data transmission cycle.

[0226] Step 902, receiving response information, and based on the received response information, determining retransmission data that needs to be retransmitted among the image transmission data sent in the first period.

[0227] Step 903: Send retransmission data during the second period of the data transmission period.

[0228] In some optional implementation manners of this embodiment, the execution subject may send image transmission data in continuous data transmission cycles.

[0229] In some optional implementation manners of this embodiment, the foregoing video transmission data may be sent by using a digital video transmission technology.

[0230] In some optional implementation manners of this embodiment, the number of data frames transmitted during the first period is greater than the number of data frames transmitted during the second period.

[0231] In some optional implementation manners of this embodiment, the number of data frames transmitted during the first period is equal to the number of data frames transmitted during the second period.

[0232] In some optional implementation manners of this embodiment, each data frame in the above video transmission data corresponds to one piece of response information.

[0233] In some optional implementation manners of this embodiment, each piece of response information includes at least: ACK or NAK.

[0234] In some optional implementation manners of this embodiment, the execution subject may determine, according to the NAK, the retransmission data that needs to be retransmitted among the image transmission data sent in the first period.

[0235] In some optional implementation manners of this embodiment, the execution subject may use the data frame in the image transmission data corresponding to the NAK as the retransmission data.

[0236] In some optional implementations of this embodiment, when the number of data frames in the video transmission data corresponding to the NAK is less than the number of data frames transmitted in the second period, the execution subject may select the remaining data frames in the video transmission data. data frame to fill the second period described above.

[0237] In some optional implementation manners of this embodiment, the execution subject may randomly select remaining data frames in the video transmission data to fill the second time period.

[0238] In some optional implementation manners of this embodiment, the execution subject may select the remaining data frames in the video transmission data in order of sending time to fill the second time period.

[0239] In some optional implementation manners of this embodiment, the execution subject may select the remaining data frames in the video transmission data in reverse order of sending time to fill the second time period.

[0240] In some optional implementation manners of this embodiment, the execution subject may receive the response information in a time division multiplexing manner.

[0241] In some optional implementations of this embodiment, the executive body may divide the first time period into a downlink sending time period and an uplink receiving time period, and only send the above-mentioned image transmission data during the downlink sending time period. Only response information from the first receiving end is received during the uplink receiving time period.

[0242] It should be noted that the specific operations performed by the execution subject in this embodiment are different from the Figure 7 The specific operations performed by the sending end described in the embodiment are basically the same, and thus will not be repeated in this embodiment.

[0243] The image transmission data sending method provided by the above-mentioned embodiments of the present application sends the image transmission data in the form of digital image transmission during the first period of time in a data transmission cycle; then receives the response information, and based on the received response information to determine the retransmission data that needs to be retransmitted among the image transmission data sent in the first period; finally, send the retransmission data in the second period of the data transmission cycle. Therefore, according to the response information of the image transmission data, the retransmission data that needs to be retransmitted can be determined and retransmitted, so that when a certain data frame in the image transmission data is wrong, the data frame can be transmitted again, which improves the The accuracy of the transmitted data frame.

[0244] further reference Figure 10 , which shows a process 1000 of an embodiment of a method for processing video transmission data according to the present application. The image transmission data processing method is applied to the receiving end of the image transmission data (such as Figure 7 The first receiving end 702 is shown). The process of this embodiment includes the following steps:

[0245] Step 1001: Receive and decode video transmission data during a first period of a data transmission cycle, and send response information according to the reception and decoding of video transmission data.

[0246] In this embodiment, the execution subject of the image transmission data processing method (such as Figure 7 The shown first receiver 702) can receive and decode video transmission data during a first period of a data transmission cycle, and send response information (such as NAK or ACK) according to the reception and decoding of the above video transmission data.

[0247] In some optional implementation manners of this embodiment, for each data frame in the above video transmission data, if the frame is received and decoded, the execution subject may send an ACK corresponding to the frame.

[0248] In some optional implementation manners of this embodiment, for each frame of the video transmission data, if the frame has not been received or decoded, the execution subject may send a NAK corresponding to the frame.

[0249] Step 1002: Receive and decode retransmitted data in the video transmission data during the second period of the data transmission period.

[0250] In some optional implementation manners of this embodiment, after receiving and decoding the retransmission data in the above video transmission data, the execution subject may also combine the above video transmission data and the retransmission data in the above video transmission data. Here, the above-mentioned execution subject may combine the image transmission data and the retransmission data by using the hybrid automatic repeat request technology, and decode the combined data. Through the hybrid automatic retransmission request technology, the image transmission data and the retransmission data are combined to correct errors in the image transmission data and improve the accuracy of the data. This further reduces video stuttering and improves the smoothness of image display.

[0251] In some optional implementation manners of this embodiment, after merging the above-mentioned image transmission data and the retransmission data in the above-mentioned image transmission data, the above-mentioned execution subject may further display the combined data.

[0252] The image transmission data transmission method provided by the above-mentioned embodiments of the present application receives and decodes the image transmission data during the first period of a data transmission cycle, and sends response information according to the reception and decoding of the above-mentioned image transmission data, and then In the second period of the above-mentioned data transmission cycle, the retransmission data in the above-mentioned image transmission data is received and decoded, so that the image transmission data and the retransmission data can be easily combined, and a certain data frame error in the image transmission data , this error can be corrected, thereby improving the accuracy of the data. This further reduces video stuttering and improves the smoothness of image display.

[0253] further reference Figure 11 , which shows a process 1100 of an embodiment of the video transmission data processing method according to the present application. The image transmission data processing method is applied to the receiving end of the image transmission data (such as Figure 7 The second receiving terminal 703 is shown). The process of this embodiment includes the following steps:

[0254] Step 1101: Receive and decode video transmission data during a first period of a data transmission cycle.

[0255] In this embodiment, the execution subject of the image transmission data processing method (such as Figure 7 The shown second receiving end 703) can receive and decode video transmission data during the first period of a data transmission cycle.

[0256] Step 1102: Receive and decode the retransmission data in the video transmission data during the second period of the data transmission period.

[0257] In some optional implementation manners of this embodiment, after receiving and decoding the retransmission data in the above video transmission data, the execution subject may also combine the above video transmission data and the retransmission data in the above video transmission data. Here, the above-mentioned execution subject may combine the image transmission data and the retransmission data by using the hybrid automatic repeat request technology, and decode the combined data. Through the hybrid automatic retransmission request technology, the image transmission data and the retransmission data are combined to correct errors in the image transmission data and improve the accuracy of the data. This further reduces video stuttering and improves the smoothness of image display.

[0258] In some optional implementation manners of this embodiment, after merging the above-mentioned image transmission data and the retransmission data in the above-mentioned image transmission data, the above-mentioned execution subject may further display the combined data.

[0259] The image transmission data transmission method provided by the above-mentioned embodiments of the present application receives and decodes the image transmission data in the first period of a data transmission cycle, and then receives and decodes the above-mentioned image transmission data in the second period of the data transmission cycle. The retransmission data in the image transmission data can thus facilitate the combination of the image transmission data and the retransmission data, and when a certain data frame error in the image transmission data can be corrected, thereby improving the accuracy of the data. This further reduces video stuttering and improves the smoothness of image display.

[0260] as to the above Figure 9 To realize the method shown, this application provides an embodiment of an image transmission data sending device, which is the same as Figure 9 The method embodiments shown correspond. The image transmission data sending device may specifically include: a processor and a memory. The image transmission data sending device may be a removable carrier, or a part of the removable carrier. The above-mentioned movable carriers may be electronic equipment such as ground robots and drones. Optionally, the above-mentioned movable carrier may be a traversing machine in an unmanned aerial vehicle.

[0261] The aforementioned memory may be used to store program instructions.

[0262] The above-mentioned processor can be used to execute the program instructions stored in the above-mentioned memory. When the program instructions are executed, the above-mentioned processor can be used to perform the following steps: in the first period of a data transmission cycle, send Image transmission data; receive response information, and based on the received response information, determine the retransmission data that needs to be retransmitted in the image transmission data sent in the first period; send the retransmission in the second period of the data transmission cycle data.

[0263] In some optional implementation manners of this embodiment, the foregoing processor may also be configured to send image transmission data in continuous data transmission cycles.

[0264] In some optional implementation manners of this embodiment, the foregoing video transmission data may be sent by using a digital video transmission technology.

[0265] In some optional implementation manners of this embodiment, the number of data frames transmitted during the first period is greater than the number of data frames transmitted during the second period.

[0266] In some optional implementation manners of this embodiment, the number of data frames transmitted during the first period is equal to the number of data frames transmitted during the second period.

[0267] In some optional implementation manners of this embodiment, each data frame in the above video transmission data corresponds to one piece of response information.

[0268] In some optional implementation manners of this embodiment, each piece of response information includes at least: ACK or NAK.

[0269] In some optional implementation manners of this embodiment, the processor may be further configured to determine, according to the NAK, retransmitted data that needs to be retransmitted among the image transmission data sent in the first period.

[0270] In some optional implementation manners of this embodiment, the foregoing processor may also be configured to use the data frame in the image transmission data corresponding to the NAK as the retransmission data.

[0271] In some optional implementations of this embodiment, the above-mentioned processor can also be used to select the above-mentioned video transmission data when the number of data frames in the video transmission data corresponding to the NAK is less than the number of data frames transmitted in the second period The remaining frames of data in to fill the above-mentioned second period.

[0272] In some optional implementation manners of this embodiment, the processor may be further configured to randomly select remaining data frames in the video transmission data to fill the second time period.

[0273] In some optional implementation manners of this embodiment, the processor may be further configured to select the remaining data frames in the video transmission data in order of sending time to fill the second time period.

[0274] In some optional implementation manners of this embodiment, the processor may be further configured to select the remaining data frames in the video transmission data in reverse order of sending time to fill the second time period.

[0275] In some optional implementation manners of this embodiment, the foregoing processor may also be configured to receive the foregoing response information in a time division multiplexing manner.

[0276] In some optional implementations of this embodiment, the above-mentioned processor may also be used to divide the above-mentioned first time period into a downlink sending time period and an uplink receiving time period, and only send the above-mentioned video transmission data during the above-mentioned downlink sending time period , only receive response information from the first receiving end within the above-mentioned uplink receiving time period.

[0277] The image transmission data sending device provided by the above-mentioned embodiments of the present application transmits image transmission data in the form of digital image transmission during the first period of time in a data transmission cycle; then receives the response information, and based on the received response information to determine the retransmission data that needs to be retransmitted among the image transmission data sent in the first period; finally, send the retransmission data in the second period of the data transmission cycle. Therefore, according to the response information of the image transmission data, the retransmission data that needs to be retransmitted can be determined and retransmitted, so that when a certain data frame in the image transmission data is wrong, the data frame can be transmitted again, which improves the The accuracy of the transmitted data frame.

[0278] As for the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and for related parts, please refer to the part of the description of the method embodiment.

[0279] as to the above Figure 10 To realize the method shown, this application provides an embodiment of a video transmission data processing device, which is the same as Figure 10 The method embodiments shown correspond. The image transmission data processing device may specifically include: a processor and a memory.

[0280] The aforementioned memory may be used to store program instructions.

[0281] The above-mentioned processor can be used to execute the program instructions stored in the above-mentioned memory. When the program instructions are executed, the above-mentioned processor can be used to perform the following steps: receiving and decoding the image transmission data in the first period of a data transmission cycle, And send response information according to the reception and decoding of the above-mentioned image transmission data; in the second period of the above-mentioned data transmission cycle, receive and decode the retransmission data in the above-mentioned image transmission data.

[0282] In some optional implementation manners of this embodiment, the above-mentioned processor is further configured to: for each data frame in the above-mentioned image transmission data, if the frame is received and decoded, send a corresponding ACK of the frame.

[0283] In some optional implementations of this embodiment, the above processor is further configured to: for each frame of the above image transmission data, if the frame has not been received or not decoded, send the NAK corresponding to the frame .

[0284] In some optional implementation manners of this embodiment, the above-mentioned processor is further configured to: combine the above-mentioned image transmission data and the retransmission data in the above-mentioned image transmission data.

[0285] In some optional implementation manners of this embodiment, the above-mentioned processor is further configured to: display the combined data.

[0286] The image transmission data transmission device provided by the above-mentioned embodiments of the present application receives and decodes the image transmission data during the first period of a data transmission cycle, and sends response information according to the reception and decoding of the above-mentioned image transmission data, and then In the second period of the above-mentioned data transmission cycle, the retransmission data in the above-mentioned image transmission data is received and decoded, so that the image transmission data and the retransmission data can be easily combined, and a certain data frame error in the image transmission data , this error can be corrected, thereby improving the accuracy of the data. This further reduces video stuttering and improves the smoothness of image display.

[0287] As for the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and for related parts, please refer to the part of the description of the method embodiment.

[0288] as to the above Figure 11 To realize the method shown, this application provides an embodiment of a video transmission data processing device, which is the same as Figure 11 The method embodiments shown correspond. The image transmission data processing device may specifically include: a processor and a memory.

[0289] The aforementioned memory may be used to store program instructions.

[0290] The above-mentioned processor can be used to execute the program instructions stored in the above-mentioned memory. When the program instructions are executed, the above-mentioned processor can be used to perform the following steps: receiving and decoding image transmission data during the first period of a data transmission cycle; In the second period of the data transmission cycle, receive and decode the retransmission data in the above image transmission data.

[0291] In some optional implementation manners of this embodiment, the above-mentioned processor is further configured to: combine the above-mentioned image transmission data and the retransmission data in the above-mentioned image transmission data.

[0292] The above processor is further used for displaying the merged data.

[0293] The image transmission data transmission device provided by the above-mentioned embodiments of the present application receives and decodes the image transmission data during the first period of a data transmission cycle, and then receives and decodes the above-mentioned image transmission data during the second period of the data transmission cycle. The retransmission data in the image transmission data can thus facilitate the combination of the image transmission data and the retransmission data, and when a certain data frame error in the image transmission data can be corrected, thereby improving the accuracy of the data. This further reduces video stuttering and improves the smoothness of image display.

[0294] As for the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and for related parts, please refer to the part of the description of the method embodiment.

[0295] The embodiment of the present application also provides a computer-readable medium, on which a computer program is stored. When the computer program is executed by a processor, the above-mentioned data transmission method, the above-mentioned image transmission data transmission method, and the above-mentioned image transmission data transmission method are implemented. 1. Each process of the embodiment of the above-mentioned image transmission data processing method can achieve the same technical effect. In order to avoid repetition, when the computer program is executed by the processor, the various processes of the embodiments of the above-mentioned methods are implemented, which will not be repeated here.

[0296] Each embodiment in this specification is described in a progressive manner, each embodiment focuses on the difference from other embodiments, and the same and similar parts of each embodiment can be referred to each other.

[0297]Those skilled in the art should understand that the embodiments of the present application may be provided as methods, apparatuses, or computer program products. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-readable media (including but not limited to disk storage, CD-ROM, optical storage, etc.) having computer-usable program code embodied therein.

[0298] The present application is described with reference to flowcharts and/or block diagrams of methods, terminal devices (systems), and computer program products according to the present application. It should be understood that each procedure and/or block in the flowchart and/or block diagram, and a combination of procedures and/or blocks in the flowchart and/or block diagram can be realized by computer program instructions. These computer program instructions may be provided to a general purpose computer, special purpose computer, embedded processor or processor of other programmable data processing terminal equipment to produce a machine such that instructions executed by the computer or processor of other programmable data processing terminal equipment generated for implementation in the process Figure 1 process or multiple processes and/or boxes Figure 1 means for the function specified in one or more boxes.

[0299] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing terminal to operate in a specific manner, such that the instructions stored in the computer-readable memory produce an article of manufacture comprising instruction means, the The command device is implemented in the flow Figure 1 process or multiple processes and/or boxes Figure 1 function specified in one or more boxes.

[0300] These computer program instructions can also be loaded into a computer or other programmable data processing terminal equipment, so that a series of operational steps are performed on the computer or other programmable terminal equipment to produce computer-implemented processing, thereby The instructions executed on provide the flow for implementing the Figure 1 process or multiple processes and/or boxes Figure 1 steps of the function specified in the box or boxes.

[0301] While preferred embodiments of the present application have been described, additional changes and modifications to these embodiments can be made by those skilled in the art once the basic inventive concept is appreciated. Therefore, the appended claims are intended to be construed to cover the preferred embodiment and all changes and modifications which fall within the scope of the application.

[0302] Finally, it should also be noted that in this text, relational terms such as first and second etc. are only used to distinguish one entity or operation from another, and do not necessarily require or imply that these entities or operations, any such actual relationship or order exists. Furthermore, the term "comprises", "comprises" or any other variation thereof is intended to cover a non-exclusive inclusion such that a process, method, article, or terminal equipment comprising a set of elements includes not only those elements, but also includes elements not expressly listed. other elements identified, or also include elements inherent in such a process, method, article, or end-equipment. Without further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of additional identical elements in the process, method, article or terminal device comprising said element.

[0303] The data transmission system, method, sending end and computer-readable medium provided by the application have been introduced in detail above. In this paper, specific examples have been used to illustrate the principle and implementation of the application. The description of the above embodiments is only used To help understand the method and its core idea of ​​this application; at the same time, for those of ordinary skill in the art, according to the idea of ​​this application, there will be changes in the specific implementation and application scope. In summary, this specification The content should not be construed as a limitation of the application.