An application of low-delay transmission technology of video stream based on WEB-RTC technology

Abstract

An application of low-latency transmission technology for video streams based on WEB‑RTC technology relates to the field of information transmission technology, including S1 site analysis, S2 signal transmission, S3 data stream control to reduce transmission delay, and S4 terminal analysis to control robot operations. The present invention is highly practical and very convenient to use. It can not only enable the robot to stably shoot high-definition video during operation, reduce the generation of redundant data during transmission, and reduce the transmission delay of high-definition video streams, but also increase the stability and passability of the robot's movement process, thereby broadening the use scenarios of the robot.

Description

Technical Field

[0001] The present invention relates to the field of information transmission technology, and in particular to an application of a low-delay transmission technology for video streams based on WEB-RTC technology. Background Art

[0002] As is known to all, the Industrial Internet is the infrastructure for the digitalization, networking and intelligent transformation of industry. Workers, machinery, products, systems, etc. are fully connected through the Industrial Internet, thereby realizing the upgrading of the entire industry. At this stage, 5G signal equipment in my country has not yet been fully rolled out, while 4G signal equipment is relatively mature, and most areas can be covered by 4G signals. When using 4G networks to control robots and other things in real time in industrial scenarios, the large amount of data will cause transmission delays, affecting actual operations, especially in some construction sites. There will be obstacles such as stones on the ground, which will affect the normal movement of robots driving on the ground. When the robot presses over the stones, it will cause a large shake of the robot. The shaking image will generate a large amount of data flow, which will increase the amount of data on the background terminal, causing congestion in the data channel, and generating data transmission delays, affecting the background's remote real-time control of the robot. In severe cases, the robot may be damaged or tipped over, causing large economic losses. Summary of the invention

[0003] In order to overcome the shortcomings of the background technology, the present invention discloses an application of low-latency transmission technology of video stream based on WEB-RTC technology. The present invention arranges a stabilizer, a camera and a support part on the robot body, a roller is arranged on the support part, and a track is arranged on the roller to achieve the purpose of stable transmission of high-definition video stream, thereby facilitating the reduction of transmission delay.

[0004] In order to achieve the above-mentioned object of the invention, the present invention adopts the following technical scheme:

[0005] An application of low-latency transmission technology of video stream based on WEB-RTC technology, comprising the following steps:

[0006] S1. Equipment installation and debugging

[0007] Install a stabilizing device, camera, and signal transmission device on the robot, and place the robot on the construction site after installation and debugging;

[0008] S2. Signal transmission

[0009] The signal transmission device is debugged to connect the robot to the terminal controller through the 4G network. The camera installed on the robot can use the WEB-RTC technology to transmit the real-time stable image to the background terminal through the 4G network;

[0010] S3, data flow control to reduce transmission delay

[0011] The camera transmits the real-time image back to the background, and the terminal computer or the tool installed with the Android system controls the transmission priority of the transmission video stream type according to the algorithm, achieving a transmission delay of less than 1 second for high-definition video streams under the condition of 4G network;

[0012] S4. Terminal analysis and control robot operation

[0013] After the transmission delay of high-definition video stream is reduced, the backstage personnel can control the robot through the controller in real time to complete the construction work.

[0014] A stabilizing device based on WEB-RTC technology video stream low-latency transmission technology includes a robot body, a stabilizer, a camera, a support part, rollers and tracks. A power supply and a signal transmission device are arranged inside the robot body, a stabilizer, a camera and a support part are arranged on the robot body, a roller is arranged on the support part, and a track is arranged on the roller.

[0015] A stabilizer is arranged above the robot body, and a camera is arranged on the stabilizer. The stabilizer controls the camera to shoot stably, and the video stream shot by the camera is transmitted back to the back-end terminal through a signal transmission device.

[0016] The support part is composed of a support plate, a drive motor and a scraper. The robot body is arranged on the upper surface of the support plate. Drive motors are symmetrically arranged on both sides of the robot body. Each drive motor is arranged on the upper surface of the support plate. Each drive motor is provided with a roller. The rollers on both sides of the support plate are provided with tracks. Scrapers are provided on both sides of the support plate. One end of the scraper is connected to the side of the support plate, and the other end of the scraper is arranged between the two rollers on the same side.

[0017] The rollers have the same structure, are connected to the output shaft of the driving motor, are provided with a slot, the slot is annularly arranged on the side of the roller, the sides of the rollers on both sides of the slot are evenly distributed with teeth, and the teeth on the sides of the rollers on both sides of the slot are symmetrically arranged.

[0018] The track is annularly sleeved on each roller on one side of the robot body, and the track is composed of a plurality of sliding components and fixed blocks, and each sliding component is connected by the fixed block, and the sliding component is composed of a connecting plate, a latch, a spring, a fixed shaft, a limiting shaft, a ball head, a bearing and a sleeve, and two connecting plates are provided on the sliding component, and the two connecting plates have the same structure and are symmetrically arranged, and a limiting shaft is provided between the two connecting plates, and a ball head, a bearing and a sleeve are provided on the limiting shaft.

[0019] The connecting plate is a rectangular structure, and is provided with a latching tooth. The latching tooth of the connecting plate on one side meshes with the latching tooth on one side of the roller slot, and the latching tooth of the connecting plate on the other side meshes with the latching tooth on the other side of the roller slot. Slide grooves are provided on the two opposite surfaces of the two connecting plates, and the two slide grooves are symmetrically arranged. A fixed groove is provided on the side of the slide groove away from the other side connecting plate, and the fixed groove is arranged parallel to and connected to the slide groove. Two connecting grooves are symmetrically arranged on the connecting plate, and the connecting groove passes through the upper surface and the lower surface of the connecting plate. A fixed shaft is provided in the connecting groove, and the two ends of the fixed shaft are respectively connected to the two inner wall surfaces corresponding to the connecting groove, and the connecting grooves of the two adjacent connecting plates are symmetrically arranged.

[0020] The two ends of the fixed block are respectively arranged in the connecting grooves of the two adjacent connecting plates. Two through holes are symmetrically arranged on the fixed block. The two through holes pass through the two side surfaces of the fixed block. The fixed shaft in the connecting groove on one side is arranged in the through hole on one side of the fixed block, and the fixed shaft in the connecting groove on the other side is arranged in the through hole on the other side of the fixed block.

[0021] The limiting shaft is a cylindrical structure, and the two ends of the limiting shaft are respectively arranged in two symmetrical sliding grooves. Ball heads are respectively provided at the two ends of the limiting shaft. The diameter of the ball head is larger than the diameter of the cross section of the limiting shaft. The two ball heads are respectively arranged in two symmetrical fixed grooves. Two springs are provided on the ball head on one side of the limiting shaft. The two springs have the same structure and are symmetrically arranged in the fixed groove. One end of the spring is connected to the spherical surface of the ball head, and the other end of the spring is connected to the inner wall surface of one end of the fixed groove. Bearings are evenly distributed on the side of the limiting shaft between the two connecting plates, and the inner wall of the bearing is connected to the side of the limiting shaft. A sleeve is provided on the bearing.

[0022] The two ends of the fixed block are respectively arranged in the connecting grooves of the two adjacent connecting plates. Two through holes are symmetrically arranged on the fixed block. The two through holes pass through the two side surfaces of the fixed block. The fixed shaft in the connecting groove on one side is arranged in the through hole on one side of the fixed block, and the fixed shaft in the connecting groove on the other side is arranged in the through hole on the other side of the fixed block.

[0023] The sleeve is a hollow cylindrical structure, the sleeve is sleeved on the limiting shaft, the inner wall of the sleeve is connected to the side of the bearing on the limiting shaft, and the side of the sleeve is provided with a limiting groove, which is spirally arranged on the side of the sleeve.

[0024] The present invention discloses an application of a low-latency transmission technology for video streams based on WEB-RTC technology, by arranging a stabilizer, a camera and a support part on a robot body, a roller on the support part and a track on the roller, so as to achieve the purpose of stably transmitting a high-definition video stream and reducing the transmission delay. The present invention has strong practicability and is very convenient to use. It can not only enable the robot to stably shoot high-definition video during operation, reduce the generation of redundant data during transmission, and reduce the transmission delay of the high-definition video stream, but also increase the stability and passability of the robot's movement process, thereby broadening the application scenarios of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 A side view of the robot body of the present invention;

[0026] Figure 2 A top view of the support portion of the present invention;

[0027] Figure 3 It is a schematic diagram of the three-dimensional structure of the roller of the present invention;

[0028] Figure 4 A top view of the crawler of the present invention

[0029] Figure 5 is a cross-sectional view of a connecting plate of the present invention;

[0030] Figure 6 It is a schematic diagram of the connection between the connecting plate, the ball head and the limiting shaft of the present invention;

[0031] Figure 7 It is a side view of the fixing block of the present invention;

[0032] Figure 8 It is a schematic diagram of the three-dimensional structure of the sleeve of the present invention;

[0033] In the figure: 1. Robot body; 2. Stabilizer; 3. Camera; 4. Track; 5. Roller; 6. Scraper; 7. Support plate; 8. Drive motor; 9. Slot; 10. Gear; 11. Connecting plate; 12. Fixed block; 13. Sleeve; 14. Fixed slot; 15. Slide slot; 16. Spring; 17. Connecting slot; 18. Fixed shaft; 19. Ball head; 20. Limiting shaft; 21. Bearing; 22. Perforation; 23. Limiting slot. DETAILED DESCRIPTION

[0034] The present invention can be explained in detail by the following examples, and the purpose of disclosing the present invention is to protect all technical improvements within the scope of the present invention.

[0035] Combined with Figures 1 to 8 An application of low-latency transmission technology of video stream based on WEB-RTC technology, comprising the following steps:

[0036] S1. Preliminary preparation

[0037] Install a stabilizing device, camera, and signal transmission device on the robot, and place the robot on the construction site after installation and debugging;

[0038] S2. Signal transmission

[0039] The signal transmission device is debugged to connect the robot to the terminal controller through the 4G network. The camera installed on the robot can use the WEB-RTC technology to transmit the real-time stable image to the background terminal through the 4G network;

[0040] S3, data flow control to reduce transmission delay

[0041] The camera transmits the real-time image back to the background, and the terminal computer or the tool installed with the Android system controls the transmission priority of the transmission video stream type according to the algorithm, achieving a transmission delay of less than 1 second for high-definition video streams under the condition of 4G network;

[0042] S4. Terminal analysis and control robot operation

[0043] After the transmission delay of high-definition video stream is reduced, the backstage personnel can control the robot through the controller in real time to complete the construction work.

[0044] A stabilizing device based on WEB-RTC technology video stream low-latency transmission technology includes a robot body 1, a stabilizer 2, a camera 3, a support part, a roller 5 and a track 4. The robot body 1 is provided with a power supply and a signal transmission device inside, the robot body 1 is provided with a stabilizer 2, a camera 3 and a support part, the support part is provided with a roller 5, and the roller 5 is provided with a track 4.

[0045] A stabilizer 2 is provided above the robot body 1, and a camera 3 is provided on the stabilizer 2. The stabilizer 2 controls the camera 3 to shoot stably, and the video stream shot by the camera 3 is transmitted back to the back-end terminal through a signal transmission device.

[0046] The support portion is composed of a support plate 7, a drive motor 8 and a scraper 6. The robot body 1 is arranged on the upper surface of the support plate 7. Drive motors 8 are symmetrically arranged on both sides of the robot body 1. Each drive motor 8 is arranged on the upper surface of the support plate 7. Each drive motor 8 is provided with a roller 5. The rollers 5 on both sides of the support plate 7 are provided with tracks 4. Scrapers 6 are arranged on both sides of the support plate 7. One end of the scraper 6 is connected to the side of the support plate 7, and the other end of the scraper 6 is arranged between the two rollers 5 on the same side.

[0047] The rollers 5 have the same structure, the rollers 5 are connected to the output shaft of the driving motor 8, a slot 9 is provided on the roller 5, the slot 9 is arranged in a ring shape on the side of the roller 5, and teeth 10 are evenly distributed on the side of the roller 5 on both sides of the slot 9, and the teeth 10 on the side of the roller 5 on both sides of the slot 9 are symmetrically arranged.

[0048] The track 4 is annularly sleeved on each roller 5 on one side of the robot body 1. The track 4 is composed of a plurality of sliding components and a fixed block 12. Each sliding component is connected by the fixed block 12. The sliding component is composed of a connecting plate 11, a latch 10, a spring 16, a fixed shaft 18, a limiting shaft 20, a ball head 19, a bearing 21 and a sleeve 13. Two connecting plates 11 are provided on the sliding component. The two connecting plates 11 have the same structure and are symmetrically arranged. A limiting shaft 20 is provided between the two connecting plates 11, and a ball head 19, a bearing 21 and a sleeve 13 are provided on the limiting shaft 20.

[0049] The connecting plate 11 is a rectangular structure, and is provided with a latching tooth 10 on the connecting plate 11. The latching tooth 10 of the connecting plate 11 on one side meshes with the latching tooth 10 on one side of the slot 9 of the roller 5, and the latching tooth 10 of the connecting plate 11 on the other side meshes with the latching tooth 10 on the other side of the slot 9 of the roller 5. Slide grooves 15 are provided on the two opposite surfaces of the two connecting plates 11, and the two slide grooves 15 are symmetrically arranged. A fixed groove 14 is provided on the side of the slide groove 15 away from the other side of the connecting plate 11. The fixed groove 14 is arranged parallel to and connected with the slide groove 15. Two connecting grooves 17 are symmetrically arranged on the connecting plate 11. The connecting groove 17 runs through the upper and lower surfaces of the connecting plate 11. A fixed shaft 18 is provided in the connecting groove 17. The two ends of the fixed shaft 18 are respectively connected to the two inner wall surfaces corresponding to the connecting groove 17. The connecting grooves 17 of the two adjacent connecting plates 11 are symmetrically arranged.

[0050] The two ends of the fixed block 12 are respectively arranged in the connecting grooves 17 of the two adjacent connecting plates 11. Two through holes 22 are symmetrically arranged on the fixed block 12. The two through holes 22 pass through the two side surfaces of the fixed block 12. The fixed shaft 18 in the connecting groove 17 on one side is arranged in the through hole 22 on one side of the fixed block 12, and the fixed shaft 18 in the connecting groove 17 on the other side is arranged in the through hole 22 on the other side of the fixed block 12.

[0051] The limiting shaft 20 is a cylindrical structure, and the two ends of the limiting shaft 20 are respectively arranged in two symmetrical sliding grooves 15. Ball heads 19 are respectively provided at the two ends of the limiting shaft 20. The diameter of the ball head 19 is larger than the diameter of the cross section of the limiting shaft 20. The two ball heads 19 are respectively arranged in two symmetrical fixed grooves 14. Two springs 16 are provided on the ball head 19 on one side of the limiting shaft 20. The two springs 16 have the same structure and are symmetrically arranged in the fixed groove 14. One end of the spring 16 is connected to the spherical surface of the ball head 19, and the other end of the spring 16 is connected to the inner wall surface of one end of the fixed groove 14. Bearings 21 are evenly distributed on the side of the limiting shaft 20 between the two connecting plates 11. The inner wall of the bearing 21 is connected to the side of the limiting shaft 20, and a sleeve 13 is provided on the bearing 21.

[0052] The sleeve 13 is a hollow cylindrical structure. The sleeve 13 is sleeved on the limiting shaft 20. The inner wall of the sleeve 13 is connected to the side of the bearing 21 on the limiting shaft 20. The side of the sleeve 13 is provided with a limiting groove 23. The limiting groove 23 is spirally arranged on the side of the sleeve 13.

[0053] The embodiment described an application of a low-latency transmission technology for video streams based on WEB-RTC technology, S1, equipment installation and debugging, the staff installs a stabilizer 2 on the robot, and then installs a camera 3 on the stabilizer 2, the stabilizer 2 eliminates the impact of most of the robot's shaking caused by mechanical vibration when moving on the camera 3, improves the high-definition video shooting effect, and places the robot in the construction site after installation and debugging; S2, signal transmission, debugging the signal transmission device so that the robot is connected to the terminal controller through the 4G network, the camera installed on the robot can use the WEB-RTC technology and transmit the real-time stable picture to the background terminal through the 4G network, S3, data flow control to reduce transmission delay, the camera 3 transmits the real-time picture back to the background, during the robot's movement, after the robot's crawler 4 is pressed on the stone on the ground, the limit shafts 20 on both sides of the stone slide to both sides, so that the distance between the two adjacent sleeves 13 is increased, so that the stone is embedded in the two sleeves 13, the sleeve 13 rotates on the limit shaft 20, and the limit groove 23 on the surface of the sleeve 13 increases the friction between the stone surface and the sleeve 13, which is convenient for the stone to move upward into the gap between the two rollers 5. After the stone passes through the two sleeves 13, the spring 16 in the corresponding connecting plate 11 pushes the limit shaft 18 back to the initial position, so that the robot can smoothly press over the stone, reducing the probability of violent shaking of the robot, thereby maintaining the stable operation of the camera 3. The stone is squeezed into the crawler 4 and rotates on the crawler 4 or moves backward with the crawler 4. When the stone moves to the scraper 6, it is guided to the edge of the crawler 4 by the scraper 6 as the crawler 4 moves until it falls from the crawler 4. During the whole process, the robot is kept stable and the robot is not blocked by the stone. The terminal computer or the tool for installing the Android system controls the transmission priority of the transmission video stream type according to the algorithm, realizing a transmission delay of less than 1 second for high-definition video streams under the conditions of a 4G network; S4. The terminal analyzes and controls the robot operation. After the transmission delay of the high-definition video stream is reduced, the backstage personnel control the robot through the controller in real time to complete the construction work.

[0054] The parts of the present invention that are not described in detail are prior art. Although the present invention is specifically demonstrated and introduced in conjunction with the preferred implementation scheme, there are many methods and approaches to specifically implement the technical solution. The above is only a preferred implementation scheme of the present invention, but technical personnel in the relevant field should understand that various changes can be made to the present invention in form and details without departing from the spirit and scope of the present invention as defined in the attached claims, and all of them are within the scope of protection of the present invention.

Claims

1. A method for low-delay transmission of video streams based on WEB-RTC technology, characterized in that: The following steps are involved: S1. Equipment installation and debugging Install the stabilizer, camera, and signal transmission device on the robot, and place the robot in the construction site after installation and debugging; S2. Signal transmission The signal transmission device is debugged to connect the robot to the terminal controller through the 4G network. The camera installed on the robot can use the WEB-RTC technology to transmit the real-time stable image to the background terminal through the 4G network; S3, data flow control to reduce transmission delay The camera transmits the real-time image back to the background, and the terminal computer or the tool installed with the Android system controls the transmission priority of the transmission video stream type according to the algorithm, achieving a transmission delay of less than 1 second for high-definition video streams under the condition of 4G network; S4. Terminal analysis and control robot operation After the transmission delay of high-definition video stream is reduced, the backstage personnel can control the robot through the controller in real time to complete the construction work. A stabilizing device based on a method for low-latency video stream transmission technology of WEB-RTC technology is applied, comprising a robot body (1), a stabilizer (2), a camera (3), a support part, a roller (5) and a crawler (4). The robot body (1) is provided with a power supply and a signal transmission device. The robot body (1) is provided with a stabilizer (2), a camera (3) and a support part. The support part is provided with a roller (5). The roller (5) is provided with a crawler (4). The crawler (4) is annularly sleeved on each roller (5) on one side of the robot body (1). The crawler (4) is composed of a plurality of sliding components and a fixed block (12). Each sliding component is connected by the fixed block (12). The sliding component is composed of a connecting plate (11), a latch (10), a spring (16), a fixed shaft (18), a limit shaft (20), a ball head (19), a bearing (21) and a sleeve (13). Two connecting plates (11) are provided on the sliding component. The two connecting plates (11) have the same structure. The two connecting plates (11) are symmetrically arranged, a limiting shaft (20) is arranged between the two connecting plates (11), a ball head (19), a bearing (21) and a sleeve (13) are arranged on the limiting shaft (20), the connecting plate (11) is a rectangular structure, a latching tooth (10) is arranged on the connecting plate (11), the latching tooth (10) of one side of the connecting plate (11) and the latching tooth (10) of one side of the roller (5) latching groove (9) are meshed with each other, and the latching tooth (10) of the connecting plate (11) on the other side and the roller (5) are meshed with each other. ) The latch teeth (10) on the other side of the latch groove (9) mesh with each other, two slide grooves (15) are provided on two opposite surfaces of the two connecting plates (11), the two slide grooves (15) are symmetrically arranged, a fixed groove (14) is provided on the side of the slide groove (15) away from the other side connecting plate (11), the fixed groove (14) is arranged parallel to and connected to the slide groove (15), two connecting grooves (17) are symmetrically provided on the connecting plate (11), and the connecting grooves (17) penetrate the upper surface and the lower surface of the connecting plate (11), A fixed shaft (18) is provided in the connecting groove (17), and two ends of the fixed shaft (18) are respectively connected to two inner wall surfaces corresponding to the connecting groove (17). The connecting grooves (17) of two adjacent connecting plates (11) are symmetrically arranged. Two ends of the fixed block (12) are respectively arranged in the connecting grooves (17) of the two adjacent connecting plates (11). Two through holes (22) are symmetrically provided on the fixed block (12). Both through holes (22) penetrate two side surfaces of the fixed block (12). The fixed shaft (18) in one side of the connecting groove (17) is arranged A fixed shaft (18) is arranged in a through hole (22) on one side of the fixed block (12) and in a connecting groove (17) on the other side. The limiting shaft (20) is a cylindrical structure. The two ends of the limiting shaft (20) are respectively arranged in two symmetrical sliding grooves (15). Ball heads (19) are respectively arranged at the two ends of the limiting shaft (20). The diameter of the ball head (19) is larger than the diameter of the cross section of the limiting shaft (20). The two ball heads (19) are respectively arranged in two symmetrical fixing grooves (14).Two springs (16) are provided on the ball head (19) on one side of the limiting shaft (20). The two springs (16) have the same structure and are symmetrically arranged in the fixing groove (14). One end of the spring (16) is connected to the spherical surface of the ball head (19), and the other end of the spring (16) is connected to the inner wall surface of one end of the fixing groove (14). Bearings (21) are evenly distributed on the side of the limiting shaft (20) between the two connecting plates (11). The inner wall of the bearing (21) is connected to the side of the limiting shaft (20), and a sleeve (13) is provided on the bearing (21).

2. The method of low-delay transmission technology of video stream based on WEB-RTC technology according to claim 1 is characterized in that: A stabilizer (2) is provided above the robot body (1), and a camera (3) is provided on the stabilizer (2). The stabilizer (2) controls the camera (3) to shoot stably, and the video stream shot by the camera (3) is transmitted back to a backstage terminal via a signal transmission device.

3. The method of low-delay transmission technology of video stream based on WEB-RTC technology according to claim 1 is characterized in that: The support portion is composed of a support plate (7), a drive motor (8) and a scraper (6); the robot body (1) is arranged on the upper surface of the support plate (7); drive motors (8) are symmetrically arranged on both sides of the robot body (1); each drive motor (8) is arranged on the upper surface of the support plate (7); each drive motor (8) is provided with a roller (5); the rollers (5) on both sides of the support plate (7) are provided with tracks (4); and scrapers (6) are provided on both sides of the support plate (7); one end of the scraper (6) is connected to the side of the support plate (7); and the other end of the scraper (6) is arranged between the two rollers (5) on the same side.

4. The method of low-delay transmission technology of video stream based on WEB-RTC technology according to claim 3 is characterized in that: The rollers (5) have the same structure. The rollers (5) are connected to the output shaft of the driving motor (8). The rollers (5) are provided with a slot (9). The slot (9) is arranged in a ring shape on the side of the roller (5). The side of the rollers (5) on both sides of the slot (9) are evenly distributed with latch teeth (10). The latch teeth (10) on the side of the rollers (5) on both sides of the slot (9) are symmetrically arranged.

5. The method of low-delay transmission technology of video stream based on WEB-RTC technology according to claim 1 is characterized in that: The sleeve (13) is a hollow cylindrical structure. The sleeve (13) is sleeved on the limiting shaft (20). The inner wall of the sleeve (13) is connected to the side of the bearing (21) on the limiting shaft (20). The side of the sleeve (13) is provided with a limiting groove (23). The limiting groove (23) is spirally arranged on the side of the sleeve (13).

Images