Methods for video processing and transmission in drone swarm detection, drones and storage media

Abstract

This application provides a method for detecting, processing, and transmitting video in a drone swarm, a drone, and a storage medium. The method includes: obtaining video from a detection scene; determining a first minimum transmission threshold corresponding to the video based on a preset mapping relationship; increasing the initial channel capacity of the current drone based on the channel capacity of each drone in the swarm, when the first minimum transmission threshold is greater than the initial channel capacity of the current drone, to obtain an increased channel capacity; and transmitting the video based on the increased channel capacity and the first minimum transmission threshold. This method is used to adjust the channel capacity of the current drone by combining the channel capacities of each drone in the swarm, thereby improving the processing and transmission efficiency of the current drone for video and meeting video transmission requirements.

Description

Technical Field

[0001] This application relates to the field of unmanned aerial vehicles (UAVs), and more particularly to a method for UAV swarm detection video processing and transmission, the UAV, and a storage medium. Background Technology

[0002] In a drone swarm, each drone uses a fixed communication protocol, and its channel capacity is allocated by the protocol. When transmitting video streams, the channel capacity limit cannot be exceeded. When there are many drones, insufficient allocated bandwidth may occur. Transmitting higher resolution video streams often exceeds the channel capacity limit, making it impossible to guarantee video stream transmission requirements. Summary of the Invention

[0003] This application provides a method for detecting video processing and transmission in a drone swarm, a drone, and a storage medium. It is used to adjust the channel capacity of the current drone by combining the channel capacity of each drone in the drone swarm, thereby improving the processing and transmission efficiency of the current drone for video and meeting the video transmission requirements.

[0004] The first aspect of this application provides a method for processing and transmitting video during drone swarm detection, which may include: obtaining video from a detection scene; determining a first minimum transmission threshold corresponding to the video according to a preset mapping relationship; increasing the initial channel capacity of the current drone according to the channel capacity of each drone in the drone swarm when the first minimum transmission threshold is greater than the initial channel capacity of the current drone, thereby obtaining an increased channel capacity; and transmitting the video according to the increased channel capacity and the first minimum transmission threshold.

[0005] Optionally, the step of increasing the channel capacity of the current drone based on the channel capacity of each drone in the drone cluster to obtain the increased channel capacity includes: dynamically increasing the communication bandwidth and / or onboard power of the current drone based on the communication bandwidth and onboard power of each drone in the drone cluster; and determining the increased channel capacity based on the increased communication bandwidth and / or onboard power of the current drone.

[0006] Optionally, the airborne power includes at least one of processing power and transmission power.

[0007] Optionally, when the airborne power includes the transmit power, increasing the initial channel capacity of the current UAV to obtain the increased channel capacity includes: obtaining the increased initial transmit power based on the initial transmit power and a preset transmit power iteration step size; and determining the increased channel capacity based on the increased initial transmit power.

[0008] Optionally, the method further includes: transmitting the video according to the minimum transmission threshold if the first minimum transmission threshold is less than or equal to the initial channel capacity.

[0009] Optionally, transmitting the video based on the increased channel capacity and the first minimum transmission threshold includes: transmitting the video based on the first minimum transmission threshold and the increased channel capacity when the first minimum transmission threshold is less than or equal to the increased channel capacity.

[0010] Optionally, transmitting the video based on the first minimum transmission threshold and the increased channel capacity when the first minimum transmission threshold is less than or equal to the increased channel capacity includes: transmitting the video based on the first minimum transmission threshold and the increased channel capacity when the sum of the increased transmit power and processing power is less than or equal to the maximum onboard power of the device and the first minimum transmission threshold is less than or equal to the increased channel capacity.

[0011] Optionally, transmitting the video based on the increased channel capacity and the first minimum transmission threshold includes: when the first minimum transmission threshold is greater than the increased channel capacity, using the increased channel capacity as the initial channel capacity, increasing the initial channel capacity of the current UAV to obtain the increased channel capacity.

[0012] Optionally, the step of using the increased channel capacity as the initial channel capacity and increasing the initial channel capacity of the current UAV to obtain the increased channel capacity when the first minimum transmission threshold is greater than the increased channel capacity includes: using the increased channel capacity as the initial channel capacity and increasing the initial channel capacity of the current UAV to obtain the increased channel capacity when the sum of the increased transmit power and processing power is less than or equal to the maximum onboard power of the UAV and the first minimum transmission threshold is greater than the increased channel capacity.

[0013] Optionally, the method further includes: performing degradation processing on the video when the sum of the increased transmission power and processing power exceeds the maximum onboard power of the device.

[0014] Optionally, the method further includes: if the channel capacity is increased again to the upper limit of the channel capacity, and if the first minimum transmission threshold is greater than the upper limit of the channel capacity, then the video is degraded, and the upper limit of the channel capacity is reset to the initial channel capacity, and the initial channel capacity of the current UAV is increased to obtain the increased channel capacity; and the degraded video is transmitted according to the second minimum transmission threshold corresponding to the degraded video and the increased channel capacity.

[0015] Optionally, the degradation processing of the video includes: reducing the current resolution of the video; and determining a second minimum transmission threshold corresponding to the video with the reduced current resolution according to the preset mapping relationship.

[0016] Optionally, transmitting the degraded video based on the second minimum transmission threshold corresponding to the degraded video and the increased channel capacity includes: transmitting a video with reduced current resolution when the second minimum transmission threshold is less than or equal to the increased channel capacity.

[0017] Optionally, transmitting video with reduced resolution when the second minimum transmission threshold is less than or equal to the increased channel capacity includes: transmitting video with reduced resolution when the sum of the increased transmit power and processing power is less than or equal to the maximum onboard power of the device, and when the second minimum transmission threshold is less than or equal to the increased channel capacity.

[0018] Optionally, transmitting the degraded video based on the second minimum transmission threshold corresponding to the degraded video and the increased channel capacity includes: when the second minimum transmission threshold is greater than the increased channel capacity, using the degraded video as the video and performing the step of degrading the video, wherein each time degradation is performed, the channel capacity is increased once.

[0019] Optionally, the step of using the degraded video as the video and performing the video degradation process when the second minimum transmission threshold is greater than the increased channel capacity includes: using the degraded video as the video and performing the video degradation process when the sum of the increased transmit power and processing power is greater than the maximum onboard power of the machine and the second minimum transmission threshold is greater than the increased channel capacity.

[0020] Optionally, the method further includes: when the degraded video reaches the lower limit of the degradation level, determining the lower minimum transmission threshold corresponding to the video that reaches the lower limit of the degradation level according to the preset mapping relationship; when the lower minimum transmission threshold is greater than the corresponding increased channel capacity, using a target detection algorithm to detect the video and obtain a detection result; when the minimum transmission threshold corresponding to the detection result is less than or equal to the corresponding increased channel capacity, sending the detection result.

[0021] Optionally, sending the detection result when the minimum transmission threshold corresponding to the detection result is less than or equal to the corresponding increased channel capacity includes: sending the detection result when the sum of the increased transmit power and processing power is less than or equal to the maximum onboard power of the device, and when the minimum transmission threshold corresponding to the detection result is less than or equal to the corresponding increased channel capacity.

[0022] Optionally, the method further includes: terminating data transmission if the minimum transmission threshold corresponding to the detection result is greater than the corresponding increased channel capacity.

[0023] Optionally, terminating data transmission when the minimum transmission threshold corresponding to the detection result is greater than the corresponding increased channel capacity includes: terminating data transmission when the sum of the increased transmit power and processing power is greater than the maximum onboard power of the device, and when the minimum transmission threshold corresponding to the detection result is greater than the corresponding increased channel capacity.

[0024] A second aspect of this application provides an unmanned aerial vehicle (UAV) that may include:

[0025] The processing module is used to obtain video from the detection scene; determine the first minimum transmission threshold corresponding to the video according to the preset mapping relationship; and when the minimum transmission threshold is greater than the initial channel capacity of the current drone, increase the initial channel capacity of the current drone according to the channel capacity of each drone in the drone cluster to obtain the increased channel capacity.

[0026] The transmission module is used to transmit the video according to the increased channel capacity and the first minimum transmission threshold.

[0027] A third aspect of this application provides a terminal device, which may include:

[0028] Memory containing executable program code;

[0029] A processor and a transceiver coupled to the memory;

[0030] The processor calls the executable program code stored in the memory, causing the processor and the transceiver to respectively execute the method described in the first aspect.

[0031] Another aspect of this application provides a computer-readable storage medium including instructions that, when executed on a processor, cause the processor to perform the methods described in the first or second aspect of this application.

[0032] Another aspect of this invention discloses a computer program product that, when run on a computer, causes the computer to execute the method described in the first or second aspect of this application.

[0033] Another aspect of this invention discloses an application publishing platform for publishing computer program products, wherein when the computer program product is run on a computer, the computer executes the method described in the first or second aspect of this application.

[0034] As can be seen from the above technical solutions, the embodiments of this application have the following advantages:

[0035] In this embodiment, video is obtained from the detection scene; a first minimum transmission threshold corresponding to the video is determined according to a preset mapping relationship; if the first minimum transmission threshold is greater than the initial channel capacity of the current drone, the initial channel capacity of the current drone is increased according to the channel capacity of each drone in the drone swarm, resulting in an increased channel capacity; the video is transmitted according to the increased channel capacity and the first minimum transmission threshold. By combining the channel capacity of each drone in the drone swarm and adjusting the channel capacity of the current drone, the processing and transmission efficiency of the current drone for video is improved, enabling each drone in the swarm system to meet the channel capacity requirements in complex communication environments when transmitting detection video. Attached Figure Description

[0036] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments and the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application, and other drawings can be obtained based on these drawings.

[0037] Figure 1 This is a flowchart illustrating the video processing and transmission process for drones based on wireless local area network (WLAN) communication.

[0038] Figure 2 This is a schematic diagram of an embodiment of the method for detecting video processing and transmission in drone clusters according to this application.

[0039] Figure 3This is a flowchart of the communication-adaptive UAV video processing and transmission method in this application;

[0040] Figure 4 This describes the adaptive adjustment process for communication of video acquisition by each drone in the drone cluster in this application;

[0041] Figure 5 This is a schematic diagram of another embodiment of the method for detecting video processing and transmission in drone swarms according to this application.

[0042] Figure 6 This is a schematic diagram of another embodiment of the method for detecting video processing and transmission in drone swarms according to this application.

[0043] Figure 7 This is a schematic diagram of another embodiment of the method for detecting video processing and transmission in drone swarms according to this application.

[0044] Figure 8 This is a schematic diagram of one embodiment of the UAV in this application;

[0045] Figure 9 This is a schematic diagram of another embodiment of the drone in this application. Detailed Implementation

[0046] This application provides a method for detecting video processing and transmission in a drone swarm, a drone, and a storage medium. It is used to adjust the channel capacity of the current drone by combining the channel capacity of each drone in the drone swarm, thereby improving the processing and transmission efficiency of the current drone for video and meeting the video transmission requirements.

[0047] To enable those skilled in the art to better understand the present application, the technical solutions of the embodiments of the present application will be described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. All embodiments based on the present application should fall within the scope of protection of the present application.

[0048] The following is a brief explanation of the terminology used in this application:

[0049] Video stream: refers to the transmission of video data. The acquired and processed video is transmitted as a stable and continuous stream at a certain rate in the channel.

[0050] TDMA: Time Division Multiple Access, is a technology that allocates channel bandwidth resources by dividing them into time slots (time slices) to achieve channel multiplexing.

[0051] FDMA: Frequency Division Multiple Access, is a technology that allocates channel bandwidth resources by dividing the frequency to achieve channel multiplexing.

[0052] YOLO V5: A target detection algorithm in the field of computer vision, capable of effectively detecting objects in images and identifying information such as the type and location of objects. V5 is its current latest version number.

[0053] Unmanned Aerial Vehicle (UAV): An unmanned aerial vehicle, also known as a drone, is an unmanned aircraft controlled by radio remote control equipment and its own program control device, or operated autonomously by an onboard computer, either completely or intermittently.

[0054] With the rapid development of unmanned technology and the emergence of new-generation communication technologies such as 5G, the application of drones combined with wireless communication networks in fields such as public safety, disaster management, and surveillance is becoming increasingly widespread. Constructing a drone swarm by using multiple drones to conduct reconnaissance and surveillance of specific targets can effectively compensate for the lack of three-dimensional and multi-dimensional reconnaissance capabilities of a single drone. Multiple drones in the swarm send the target video streams they collect to a data fusion node for information complementarity and fusion, which can effectively improve the efficiency of mission execution.

[0055] In terms of target detection in drone swarms, the most important thing is that each drone in the swarm acquires and sends target video streams through high-resolution sensors. That is, the target video streams collected by the airborne cameras are sent to the ground information processing nodes, and then the targets in the target video streams are detected and identified, and then information is fused to finally form multi-dimensional target information.

[0056] Currently, drone swarm communication with the ground relies on fixed-allocation bandwidth and mature communication protocols as the foundation for wireless channel transmission of sensor information such as video streams. This approach is simple to design and technologically mature. For example, drones equipped with 802.11 standard wireless LAN chips can use wireless LAN channels to achieve effective information exchange between drone swarms and ground command and control centers. The ground command and control center includes a ground receiving center and an information processing and data fusion center. Figure 1 The diagram shows a flowchart of drone video processing and transmission based on wireless local area network (WLAN) communication. A drone swarm consists of multiple drones that acquire target video using high-resolution sensors mounted on the drones. The video stream (or images) is then sent to a ground receiving center, where it is further aggregated at an information processing and data fusion center for information fusion.

[0057] In existing drone swarms, each drone uses a fixed communication protocol, and its channel capacity is allocated by the protocol. When transmitting video streams, the channel capacity limit cannot be exceeded. With a large number of drones, insufficient allocated bandwidth may occur. Transmitting higher-resolution video streams often exceeds the channel capacity limit, failing to meet video streaming requirements. Furthermore, the onboard processing power for video acquisition and processing cannot be adjusted according to communication changes; it can only process at a specific power level. When video processing power consumption is low, excess onboard power cannot be fully utilized to increase transmission power and thus improve channel capacity. Additionally, the communication and processing capabilities of drones cannot be effectively linked, preventing joint adjustment of power and bandwidth across the system. Even with low video stream power, transmission and processing power cannot be adjusted, resulting in significant energy loss for drones with limited energy supply, hindering efficient information transmission.

[0058] This application provides a method for processing and transmitting detection video in a UAV swarm based on adaptive communication. Specifically, it provides a method for processing and transmitting detection video from multiple UAVs within a swarm under changing communication conditions. This method is applied to the field of UAV communication in unmanned systems. Using this method, the allocation of communication resources within the UAV swarm can be adaptively adjusted based on changes in the bandwidth, transmit power, and processing power of each UAV. The detection video streams acquired by each UAV in the swarm are processed in different ways before being sent to the ground control center for further processing. In other words, this application uses dynamic allocation and adjustment of the bandwidth, transmit power, and processing power of each UAV in the swarm to perform local processing of the detection video, enabling each UAV in the swarm system to meet the channel capacity requirements under complex communication environments when transmitting detection video.

[0059] The technical solution of this application will be further described below by way of embodiments, such as... Figure 2 The diagram shown is a schematic representation of an embodiment of a method for detecting and processing video transmission in a drone swarm according to this application, which may include:

[0060] 201. Obtain video from the detection scene.

[0061] Optionally, video can be acquired from the probed scene using a video capture device (e.g., a high-resolution camera). For example, for the target environment, a UAV (Unmanned Aerial Vehicle) i Video is captured using an airborne high-resolution sensor. Here, a high-resolution sensor can be understood as a high-resolution camera.

[0062] Understandably, unlike traditional video transmission which relies on fixed bandwidth and mature communication protocols as the basis for wireless channels, the scheme described in this application dynamically allocates bandwidth and local onboard power to individual drones within a drone swarm based on current video and transmission requirements, through joint adjustment of bandwidth and onboard power. Onboard power includes processing power and / or transmission power, thereby improving the efficiency of video processing and transmission. Processing power can also be referred to as information processing power; bandwidth can also be referred to as communication bandwidth. Figure 3 The diagram shown is a flowchart of the UAV video processing and transmission based on communication adaptation in this application.

[0063] 202. Determine the first minimum transmission threshold corresponding to the video according to the preset mapping relationship.

[0064] This application can adaptively adjust the degradation processing of video based on a comparison between the minimum transmission threshold corresponding to the video and the channel capacity, setting different video stream degradation levels Q. For example, through simulation experiments, the minimum transmission threshold for the video stream under different degradation levels is given. The minimum transmission threshold can also be called the minimum channel capacity reference threshold, as shown in Table 1, which sets reference thresholds for different levels of video stream degradation. Table 1 can be understood as a preset mapping relationship.

[0065]

[0066] Table 1

[0067] It should be noted that the minimum transmission thresholds in Table 1 above are reference thresholds after testing. In practical applications, they can be adjusted according to the specific communication environment.

[0068] 203. If the first minimum transmission threshold is greater than the initial channel capacity of the current UAV, the initial channel capacity of the current UAV is increased according to the channel capacity of each UAV in the UAV cluster, so as to obtain the increased channel capacity.

[0069] Optionally, the step of increasing the channel capacity of the current drone based on the channel capacity of each drone in the drone cluster when the first minimum transmission threshold is greater than the initial channel capacity of the current drone may include: dynamically increasing the communication bandwidth and / or onboard power of the current drone based on the communication bandwidth and onboard power of each drone in the drone cluster when the first minimum transmission threshold is greater than the initial channel capacity of the current drone; and determining the increased channel capacity based on the increased communication bandwidth and / or onboard power of the current drone.

[0070] Optionally, the airborne power includes at least one of processing power and transmission power.

[0071] Optionally, when the airborne power includes the transmit power, increasing the initial channel capacity of the current UAV to obtain the increased channel capacity may include: obtaining the increased initial transmit power based on the initial transmit power and a preset transmit power iteration step size; and determining the increased channel capacity based on the increased initial transmit power.

[0072] For example, in UAVs, the transmission power is generally adjusted by gradually increasing the transmission power (in watts). Since the change in transmission power is not a continuous value, the step size of each transmission power iteration can be set to Δp (such as 0.1 watt, 0.5 watt, etc.). By continuously adding Δp, the transmission power is changed, thereby changing the channel capacity.

[0073] Assuming a drone (UAV) i (The i-th drone in the drone swarm) acquires video from the detected scene. The channel analyzer adjusts the bandwidth B of the current drone based on the current bandwidth and onboard power of each drone in the swarm. i And airborne power. When airborne power includes transmit power P t，i When using formula (1), the channel capacity r of the UAV is calculated. i (i.e., Shannon's formula for wireless channel capacity) to determine the maximum data rate of the drone during video transmission:

[0074] r i = (B i )·log2(1+f i ·P t，i (1)

[0075] Among them, f i It is a drone (UAV) i Channel gain to ground receiving center node, B i It is a drone (UAV) i bandwidth, P t，i It is a drone (UAV) i The transmission power. It should be noted that the transmission rate of the video stream after processing by the video capture device needs to be less than r. i Only in this way can communication requirements be met and video streams be transmitted over wireless channels.

[0076] Optionally, the network of the drone swarm can be a fully connected TDMA network or an FDMA network.

[0077] It is understandable that the M drones in a drone swarm are based on the total communication bandwidth B. total Each drone is allocated its own bandwidth. Let the bandwidth allocated to the i-th drone be B. iThen the bandwidth allocated to each of the M drones must satisfy the following conditions: For example, based on the current channel conditions of the drone swarm, initial settings for swarm parameters are performed, assuming the total available bandwidth for the drone swarm is B. total The drone swarm contains M drones and can be configured as UAVs. i initial channel bandwidth

[0078] UAVs i Before sending the video, processing power P needs to be used. c，i The video is processed to generate video streams of corresponding resolutions. Different resolution video streams correspond to a minimum transmission threshold V. Q V needs to be satisfied Q ≤r i Only then can the normal transmission of video streams at that resolution be guaranteed.

[0079] 204. Transmit the video according to the increased channel capacity and the first minimum transmission threshold.

[0080] It should be noted that unmanned aerial vehicles (UAVs) i During communication and local information processing, the transmit power P t，i and processing power P c，i The sum of (P) t，i +P c，i It must not exceed the maximum onboard power P of the machine. max，i .

[0081] It is understandable that the adaptive adjustment method used in this application employs a bandwidth-power joint adjustment model, such as... Figure 4 The diagram illustrates the adaptive adjustment process for communication in video acquisition by each Unmanned Aerial Vehicle (UAV) in the UAV cluster of this application.

[0082] Implementation method 1:

[0083] Optionally, the method may further include: transmitting the video according to the minimum transmission threshold if the first minimum transmission threshold is less than or equal to the initial channel capacity.

[0084] For example, if a drone (UAV) i The minimum transmission threshold V for generating the raw video stream from the currently acquired video. Q Less than or equal to the initial channel capacity r i At that time, according to Figure 4 As shown in scenario 1, the original video stream is transmitted directly.

[0085] Optionally, transmitting the video based on the increased channel capacity and the first minimum transmission threshold may include:

[0086] Implementation method 2:

[0087] If the first minimum transmission threshold is greater than the initial channel capacity of the current drone, the initial channel capacity of the current drone is increased according to the channel capacity of each drone in the drone cluster to obtain the increased channel capacity; the video stream is transmitted according to the increased channel capacity and the first minimum transmission threshold.

[0088] Optionally, transmitting the video based on the increased channel capacity and the first minimum transmission threshold may include:

[0089] (1) When the first minimum transmission threshold is less than or equal to the increased channel capacity, the video is transmitted according to the first minimum transmission threshold and the increased channel capacity.

[0090] Optionally, transmitting the video based on the first minimum transmission threshold and the increased channel capacity when the first minimum transmission threshold is less than or equal to the increased channel capacity may include: transmitting the video based on the first minimum transmission threshold and the increased channel capacity when the sum of the increased transmit power and processing power is less than or equal to the maximum onboard power of the device and the first minimum transmission threshold is less than or equal to the increased channel capacity.

[0091] (2) When the first minimum transmission threshold is greater than the increased channel capacity, the increased channel capacity is used as the initial channel capacity, and the initial channel capacity of the current UAV is increased to obtain the increased channel capacity. When the first minimum transmission threshold is less than or equal to the increased channel capacity, the video is transmitted according to the first minimum transmission threshold and the increased channel capacity.

[0092] Optionally, the step of using the increased channel capacity as the initial channel capacity when the first minimum transmission threshold is greater than the increased channel capacity, and increasing the initial channel capacity of the current UAV to obtain the increased channel capacity, may include: using the increased channel capacity as the initial channel capacity when the sum of the increased transmit power and processing power is less than or equal to the maximum onboard power of the UAV, and when the first minimum transmission threshold is greater than the increased channel capacity, and increasing the initial channel capacity of the current UAV to obtain the increased channel capacity.

[0093] Optionally, the method may further include: performing degradation processing on the video when the sum of the increased transmission power and the processing power exceeds the maximum onboard power of the device.

[0094] For example, if the minimum transmission threshold V of the raw video stream generated from the currently acquired video... Q Greater than the initial channel capacity r i At that time, according to Figure 4 Execute scenario 2 as shown, and increase the size of the UAV. i The initial channel capacity is determined based on the minimum transmission threshold V of the original video stream. Q The video is transmitted using an increased channel capacity. For example, the channel capacity is changed by adjusting the transmit power. If the increased channel capacity is less than or equal to a first minimum transmission threshold, the original video stream is directly transmitted through the wireless channel.

[0095] like Figure 5 The diagram shown is a schematic representation of another embodiment of the method for detecting and processing video transmission in drone swarms according to this application, which may include:

[0096] Step 1: Set the initial parameters for each drone based on the current channel conditions of the drone swarm.

[0097] Assume the total available bandwidth for the drone swarm is B. total The drone swarm contains M drones and can be configured as UAVs. i initial channel bandwidth This section discusses unmanned aerial vehicles (UAVs). i The initial channel bandwidth is calculated on an average basis, but it can also be set according to the actual situation.

[0098] For example, the initial parameter settings include: initial communication bandwidth parameters. Channel gain f0 (f0 can be measured in real time through the channel from the local machine to the ground receiving center), initial processing power value p′0, initial transmit power value p0, and transmit power iteration step size Δp.

[0099] Step 2: Obtain video from the detection scene.

[0100] Step 3: If the first minimum transmission threshold corresponding to the video is greater than the initial channel capacity of the current drone, increase the initial channel capacity of the current drone according to the channel capacity of each drone in the drone cluster to obtain the increased channel capacity.

[0101] Understandably, a first minimum transmission threshold corresponding to the video is determined based on a preset mapping relationship; if the first minimum transmission threshold is greater than the initial channel capacity of the current drone, the initial channel capacity of the current drone is increased according to the channel capacity of each drone in the drone cluster, thus obtaining the increased channel capacity.

[0102] Acquire video to generate raw video stream for use by UAVs (Unmanned Aerial Vehicles). i Transmit power adjustment (Case 2). Based on UAV i Given the current channel bandwidth and the local processing power required for the transmission of the original video stream, adjust the local transmit power to achieve channel capacity adjustment in order to meet the transmission requirements of the original video stream.

[0103] For example, step 3 may include the following steps:

[0104] Step 3.1: Superimpose the initial transmit power value p0 and the transmit power iteration step size Δp to adjust the transmit power and obtain the adjusted transmit power P. t，i .

[0105] Step 3.2: According to the formula (1) for calculating the channel capacity of a single node in a UAV swarm, substitute the initial bandwidth parameter B0 and the channel gain f0, and calculate the initial processing power for the UAV. i The value p′0 and the iteratively adjusted transmit power P under the current conditions t，i Calculate the channel capacity r that the UAV can provide under the current channel after adjustment. i Based on the reference in Table 1, set the minimum communication transmission rate V0 for the original video (degradation level Q=0).

[0106] Step 3.3: Determine the sum P of the adjusted transmit power and processing power. t，i +P c，i Is it greater than the maximum onboard power P of this machine? max，i If the result is greater than the channel capacity adjustment process in step 3, proceed to the video degradation processing process in step 4; otherwise, proceed to step 3.4.

[0107] Step 3.4: Determine whether the minimum transmission threshold V0 of the original video is higher than the current channel capacity r. i If the power is higher than the specified value, the original video cannot be transmitted, and the transmission power needs to be further increased to improve the channel capacity. i Then proceed to step 3.2 to adjust the transmit power and thus adjust the channel capacity; otherwise, the adaptive adjustment of video stream communication ends and the original video data transmission begins.

[0108] In this implementation, bandwidth utilization is effectively improved: before transmitting the video stream, the allocated bandwidth, transmission power, and processing power of each drone in the drone cluster are adjusted to regulate the amount of data transmitted by the drones, and the onboard transmission power of the drones is further adjusted to improve bandwidth utilization. Furthermore, drone energy consumption is optimized: through iterative calculation of the transmission power, the optimal transmission power required for the current video stream transmission is determined, ensuring normal video stream transmission while reducing the output transmission power, thereby saving energy for each drone in the cluster.

[0109] Implementation method 3:

[0110] Based on the implementation method 2, if the channel capacity is increased again to the upper limit of the channel capacity, and if the first minimum transmission threshold is greater than the upper limit of the channel capacity, then the video is degraded, the upper limit of the channel capacity is reset to the initial channel capacity, the initial channel capacity of the current UAV is increased, and the increased channel capacity is obtained; the degraded video is transmitted according to the second minimum transmission threshold corresponding to the degraded video and the increased channel capacity.

[0111] Optionally, the degradation processing of the video may include: reducing the current resolution of the video; and determining a second minimum transmission threshold corresponding to the video with the reduced current resolution according to the preset mapping relationship.

[0112] Optionally, transmitting the degraded video based on the second minimum transmission threshold corresponding to the degraded video and the increased channel capacity may include:

[0113] (1) When the second minimum transmission threshold is less than or equal to the increased channel capacity, transmit video with reduced current resolution.

[0114] Optionally, transmitting video with reduced resolution when the second minimum transmission threshold is less than or equal to the increased channel capacity may include: transmitting video with reduced resolution when the sum of the increased transmit power and processing power is less than or equal to the maximum onboard power of the device, and when the second minimum transmission threshold is less than or equal to the increased channel capacity.

[0115] (2) When the second minimum transmission threshold is greater than the increased channel capacity, the degraded video is used as the video, and the step of degrading the video is performed, wherein the channel capacity is increased once for each video degradation.

[0116] Optionally, the step of performing the degradation processing on the video by using the degraded video as the video when the second minimum transmission threshold is greater than the increased channel capacity may include: performing the degradation processing on the video when the sum of the increased transmit power and processing power is greater than the maximum onboard power of the machine and the second minimum transmission threshold is greater than the increased channel capacity.

[0117] For example, based on the implementation shown in Method 2, the channel capacity is further increased to reach the upper limit of the channel capacity, and the minimum transmission threshold V is reached. Q If it is still greater than the channel capacity limit, then according to Figure 4 As shown in scenario 3, the video is degraded (video compression is performed according to the degradation level, and the resolution is changed). Simultaneously, the channel capacity upper limit is reset to the initial channel capacity, and then the channel capacity is increased accordingly. Based on the second minimum transmission threshold corresponding to the degraded video and the increased channel capacity, the degraded video is transmitted. That is, a degraded video stream is generated from the acquired video, and the transmission power is adjusted (scenario 2), based on the UAV. i The local transmit power is adjusted based on the current channel bandwidth and the local processing power required for different levels of degraded video to achieve channel capacity adjustment, thereby meeting the transmission requirements of different levels of degraded video streams.

[0118] like Figure 6 The diagram shown is a schematic representation of another embodiment of the method for detecting and processing video transmission in drone swarms according to this application, which may include:

[0119] Step 4: Degrade the video, reset the channel capacity limit to the initial channel capacity, increase the initial channel capacity of the current UAV to obtain the increased channel capacity; transmit the degraded video according to the second minimum transmission threshold corresponding to the degraded video and the increased channel capacity, which may include the following steps:

[0120] Step 4.1: Initial parameter settings, including initial communication bandwidth parameters. Channel gain f0 (f0 is measured in real time through the channel from the local machine to the ground receiving center), initial processing power value p′0, initial transmit power value p0, and transmit power iteration step size Δp.

[0121] Step 4.2: Increase the video stream degradation level Q by 1 level, and determine whether Q exceeds the upper limit of the video degradation level (as shown in Table 1, the video stream degradation level can be set to a maximum of 5 levels). If it exceeds, proceed to the target detection process in Step 5; otherwise, proceed to Step 4.3.

[0122] Step 4.3: Reset transmit power P t，i and processing power P c，i The transmit power is reset to its initial value, and the processing power is reset to the processing power under the current degradation level.

[0123] Step 4.4: Transmit power P t，i The transmit power is adjusted by superimposing the transmit power iteration step size Δp.

[0124] Step 4.5: Using the single-node channel capacity calculation formula (1) for UAV swarms, substitute the initial bandwidth parameter B0, channel gain f0, and processing power p′ at the current degradation level Q. Q And the adjusted transmit power P under current conditions t，i Calculate the channel capacity r that the UAV can provide under the current channel after adjustment. i Based on the reference in Table 1, set the video (using p′ on this machine) to the current degradation level. Q The minimum communication transmission rate V (to complete the degradation processing) Q .

[0125] Step 4.6: Determine the sum p of the adjusted transmit power and processing power. t，i +P c，i Is it greater than the maximum onboard power P of this machine? max，i If the value is greater than the threshold, proceed to step 4.2 to enter the next video stream degradation level; otherwise, proceed to step 4.6 of the processing flow.

[0126] Step 4.7: Determine the minimum communication transmission rate V of the current level of degraded video stream. Q Is it higher than the current channel capacity r? i If the value is higher than the specified value, the current level of degraded video stream cannot be sent. The transmission power needs to be further increased to improve the channel capacity. Then, proceed to step 4.4 to adjust the transmission power. Otherwise, the adaptive adjustment of the degraded video stream communication ends, and the current degraded video stream transmission begins.

[0127] In this implementation, video streams can be processed and transmitted in a hierarchical manner: the video stream is divided into different levels, the minimum transmission threshold under each level is evaluated, video processing is performed according to the threshold, and the video stream is degraded if the channel capacity cannot meet the minimum transmission threshold, thus ensuring the stability of video stream transmission.

[0128] Implementation method 4:

[0129] Based on implementation method 3, when the degraded video reaches the lower limit of the degradation level, the minimum transmission threshold corresponding to the video that reaches the lower limit of the degradation level is determined according to the preset mapping relationship; when the minimum transmission threshold is greater than the corresponding increased channel capacity, the target detection algorithm is used to detect the video to obtain the detection result; when the minimum transmission threshold corresponding to the detection result is less than or equal to the corresponding increased channel capacity, the detection result is sent.

[0130] Optionally, sending the detection result when the minimum transmission threshold corresponding to the detection result is less than or equal to the corresponding increased channel capacity may include: sending the detection result when the sum of the increased transmit power and processing power is less than or equal to the maximum onboard power of the device, and when the minimum transmission threshold corresponding to the detection result is less than or equal to the corresponding increased channel capacity.

[0131] For example, based on implementation method 3, if the degradation processing reaches the upper limit of the degradation processing level (the video cannot be further compressed, i.e., the current reduced resolution reaches the lower limit of the resolution), and if the lower limit of the degradation processing level corresponds to the lower limit of the minimum transmission threshold (i.e., the lower limit of the minimum transmission threshold corresponding to the resolution that has reached the lower limit) is still greater than the corresponding increased channel capacity, then according to... Figure 4 In scenario 4, target detection is performed on the video on the local machine. If the minimum transmission threshold corresponding to the detection result is less than or equal to the corresponding adjusted channel capacity, the detection result is transmitted on the wireless channel through the corresponding increased channel capacity.

[0132] like Figure 7 The diagram shown is a schematic representation of another embodiment of the method for detecting and processing video transmission in drone swarms according to this application, which may include:

[0133] Step 5: Perform target data detection. If channel conditions cannot meet the transmission requirements of video streams at all levels, use a target detection algorithm to detect targets in the video locally. Encapsulate the detection results into a formatted message. If the channel capacity can meet the transmission rate of the formatted message, send the message; otherwise, if the channel conditions cannot meet the data transmission requirements of any level, terminate data transmission on the wireless channel. Step 5 may include the following steps:

[0134] Step 5.1: Use an object detection algorithm (such as YOLO V5) to detect each frame of the video stream on the local machine. Encapsulate the detection results (using YOLO V5, you can obtain data such as the type, location, and confidence level of the target) into continuous formatted messages. The encapsulation format of each message is as shown in Table 2, as follows:

[0135]

[0136] Table 2

[0137] Step 5.2: Calculate the maximum channel capacity of the current wireless channel using formula (1), where the initial parameter of the communication bandwidth is... Channel gain f0 (f0 is measured in real time through the channel from the local machine to the ground receiving center), processing power value p′6 is the processing power (i.e. the power consumed by the target detection algorithm) at the current level (the degradation level of target detection is set to 6 for reference), initial value of transmit power p0 and iterative step size of transmit power Δp.

[0138] Step 5.3: Transmit power P t，i The transmit power is adjusted by superimposing the transmit power iteration step size Δp.

[0139] Step 5.4: Using the single-node channel capacity calculation formula (1) for UAV clusters, substitute the initial bandwidth parameter B0, channel gain f0, initial processing power value p′6, and the adjusted transmit power P under the current conditions. t，i Calculate the channel capacity r that the current channel of the UAV can provide. i Based on the reference in Table 1, set the minimum communication transmission rate V6 for the target detection result message (degradation level Q=6).

[0140] Step 5.5: Determine the sum P of the current transmit power and processing power. t，i Is +P6 greater than the maximum onboard power P of this machine? max，i If the value is greater than the end of step 5 for adjustment, exit channel data transmission and terminate transmission; otherwise, proceed to step 5.6 for processing.

[0141] Step 5.6: Determine whether the minimum transmission threshold V6 of the target detection result message is higher than the current channel capacity r. i If the transmit power is higher than the threshold, the target detection result message cannot be sent. The transmit power needs to be increased to improve the channel capacity. Then, proceed to step 5.3 to adjust the transmit power. Otherwise, the adaptive adjustment of the target detection result message communication ends and the target detection result message transmission begins.

[0142] In this implementation, target detection data can be encapsulated in a formatted message and sent even when the channel capacity is extremely low, ensuring that target detection data can still be effectively sent even when the channel is insufficient to transmit video streams.

[0143] Implementation method 5:

[0144] Based on implementation method 4, if the minimum transmission threshold corresponding to the detection result is greater than the corresponding increased channel capacity, data transmission is terminated.

[0145] Optionally, terminating data transmission when the minimum transmission threshold corresponding to the detection result is greater than the corresponding increased channel capacity may include: terminating data transmission when the sum of the increased transmit power and processing power is greater than the maximum onboard power of the device, and when the minimum transmission threshold corresponding to the detection result is greater than the corresponding increased channel capacity.

[0146] For example, if the minimum transmission threshold corresponding to the detection result is greater than the corresponding adjusted channel capacity, channel transmission is terminated, that is, data transmission is terminated.

[0147] Understandably, since the target detection results are represented by formatted messages and the quantity is low, it can generally meet the channel transmission requirements; otherwise, channel transmission is terminated and the task is terminated (at this point, the wireless channel is no longer able to perform any effective data transmission).

[0148] Optionally, this application can be designed and used in a time-varying network simulation demonstration and verification system for unmanned aerial vehicle (UAV) swarms.

[0149] In this application embodiment, a communication-adaptive video processing method is provided: This method can degrade the video acquired by the UAV according to the degradation level based on the communication bandwidth, the UAV's transmit power, and the processing power, generating a degraded video stream. A communication adjustment and transmission method based on the degraded video stream, and a method for channel capacity adjustment jointly using power and bandwidth, can dynamically adjust the parameter values ​​of transmit power and processing power according to the current degradation level of the video stream, and calculate the channel capacity by combining bandwidth allocation to meet the transmission requirements of degraded video streams under different video levels. A channel capacity estimation method is provided: The peak data transmission rate under the current node's processing power constraint is estimated by combining transmit power and communication bandwidth, and the channel capacity is dynamically adjusted according to the power consumption required by the video target detection processing algorithm.

[0150] In this embodiment, video is obtained from the detection scene; a first minimum transmission threshold corresponding to the video is determined according to a preset mapping relationship; if the first minimum transmission threshold is greater than the initial channel capacity of the current drone, the initial channel capacity of the current drone is increased according to the channel capacity of each drone in the drone swarm, resulting in an increased channel capacity; the video is transmitted according to the increased channel capacity and the first minimum transmission threshold. By combining the channel capacity of each drone in the drone swarm and adjusting the channel capacity of the current drone, the processing and transmission efficiency of the current drone for video is improved, enabling each drone in the swarm system to meet the channel capacity requirements in complex communication environments when transmitting detection video.

[0151] like Figure 8The diagram shown is a schematic representation of one embodiment of the UAV in this application, which may include:

[0152] The processing module 801 is used to obtain video from the detection scene; determine a first minimum transmission threshold corresponding to the video according to a preset mapping relationship; and when the minimum transmission threshold is greater than the initial channel capacity of the current drone, increase the initial channel capacity of the current drone according to the channel capacity of each drone in the drone cluster to obtain the increased channel capacity.

[0153] The transmission module 802 is used to transmit the video according to the increased channel capacity and the first minimum transmission threshold.

[0154] Optionally, the processing module 801 is specifically used to dynamically increase the communication bandwidth and / or onboard power of the current UAV based on the communication bandwidth and onboard power of each UAV in the UAV cluster; and to determine the increased channel capacity based on the increased communication bandwidth and / or onboard power of the current UAV.

[0155] Optionally, the airborne power includes at least one of processing power and transmission power.

[0156] Optionally, the processing module 801 is specifically used to obtain the increased initial transmit power based on the initial transmit power and a preset transmit power iteration step size; and to determine the increased channel capacity based on the increased initial transmit power.

[0157] Optionally, the transmission module 802 is further configured to transmit the video according to the minimum transmission threshold when the first minimum transmission threshold is less than or equal to the initial channel capacity.

[0158] Optionally, the transmission module 802 is specifically used to transmit the video according to the first minimum transmission threshold and the increased channel capacity when the first minimum transmission threshold is less than or equal to the increased channel capacity.

[0159] Optionally, the transmission module 802 is specifically used to transmit the video according to the first minimum transmission threshold and the increased channel capacity when the sum of the increased transmission power and the processing power is less than or equal to the maximum onboard power of the device and the first minimum transmission threshold is less than or equal to the increased channel capacity.

[0160] Optionally, the transmission module 802 is specifically used to perform the step of increasing the initial channel capacity of the current UAV to obtain the increased channel capacity when the first minimum transmission threshold is greater than the increased channel capacity.

[0161] Optionally, the processing module 801 is specifically used to perform the step of increasing the initial channel capacity of the current UAV to obtain the increased channel capacity when the sum of the increased transmission power and the processing power is less than or equal to the maximum onboard power of the UAV and the first minimum transmission threshold is greater than the increased channel capacity.

[0162] Optionally, the processing module 801 is also used to perform degradation processing on the video when the sum of the increased transmission power and the processing power is greater than the maximum onboard power of the device.

[0163] Optionally, the processing module 801 is further configured to, when the channel capacity is increased again to the upper limit of the channel capacity, if the first minimum transmission threshold is greater than the upper limit of the channel capacity, perform degradation processing on the video, and reset the upper limit of the channel capacity to the initial channel capacity, increase the initial channel capacity of the current UAV, and obtain the increased channel capacity.

[0164] The transmission module 802 is further configured to transmit the degraded video according to the second minimum transmission threshold corresponding to the degraded video and the increased channel capacity.

[0165] Optionally, the processing module 801 is specifically used to reduce the current resolution of the video; and to determine a second minimum transmission threshold corresponding to the video with reduced current resolution according to the preset mapping relationship.

[0166] Optionally, the transmission module 802 is specifically used to transmit video with reduced current resolution when the second minimum transmission threshold is less than or equal to the increased channel capacity.

[0167] Optionally, the transmission module 802 is specifically used to transmit video with reduced current resolution when the sum of the increased transmit power and processing power is less than or equal to the maximum onboard power of the device and the second minimum transmission threshold is less than or equal to the increased channel capacity.

[0168] Optionally, the processing module 801 is specifically used to, when the second minimum transmission threshold is greater than the increased channel capacity, use the degraded video as the video and perform the step of degrading the video, wherein each time the degradation is performed, the channel capacity is increased once.

[0169] Optionally, the processing module 801 is specifically used to perform the step of degrading the video as the video when the sum of the increased transmission power and the processing power is greater than the maximum onboard power of the machine and the second minimum transmission threshold is greater than the increased channel capacity.

[0170] Optionally, the processing module 801 is further configured to, when the degraded video reaches the lower limit of the degradation level, determine the lower minimum transmission threshold corresponding to the video that reaches the lower limit of the degradation level according to the preset mapping relationship; and when the lower minimum transmission threshold is greater than the corresponding increased channel capacity, use a target detection algorithm to detect the video and obtain a detection result.

[0171] The transmission module 802 is further configured to transmit the detection result when the minimum transmission threshold corresponding to the detection result is less than or equal to the corresponding increased channel capacity.

[0172] Optionally, the transmission module 802 is specifically used to transmit the detection result when the sum of the increased transmission power and the processing power is less than or equal to the maximum onboard power of the device, and when the minimum transmission threshold corresponding to the detection result is less than or equal to the corresponding increased channel capacity.

[0173] Optionally, the transmission module 802 is specifically used to terminate data transmission when the minimum transmission threshold corresponding to the detection result is greater than the corresponding increased channel capacity.

[0174] Optionally, the transmission module 802 is specifically used to terminate data transmission when the sum of the increased transmission power and processing power is greater than the maximum onboard power of the device, and when the minimum transmission threshold corresponding to the detection result is greater than the corresponding increased channel capacity.

[0175] like Figure 9 The diagram shown is a schematic representation of another embodiment of the drone in this application, which may include:

[0176] Memory 901 storing executable program code;

[0177] A processor 902 and a transceiver 903 are coupled to a memory 901;

[0178] The processor 902 is used to obtain video from the detection scene; determine a first minimum transmission threshold corresponding to the video according to a preset mapping relationship; and when the first minimum transmission threshold is greater than the initial channel capacity of the current drone, increase the initial channel capacity of the current drone according to the channel capacity of each drone in the drone cluster to obtain the increased channel capacity.

[0179] Transceiver 903 is used to transmit the video according to the increased channel capacity and the first minimum transmission threshold.

[0180] Optionally, the processor 902 is specifically configured to dynamically increase the communication bandwidth and / or onboard power of the current drone based on the communication bandwidth and onboard power of each drone in the drone cluster; and to determine the increased channel capacity based on the increased communication bandwidth and / or onboard power of the current drone.

[0181] Optionally, the airborne power includes at least one of processing power and transmission power.

[0182] Optionally, the processor 902 is specifically configured to obtain an increased initial transmit power based on the initial transmit power and a preset transmit power iteration step size; and to determine the increased channel capacity based on the increased initial transmit power.

[0183] Optionally, transceiver 903 is also configured to transmit the video according to the minimum transmission threshold if the first minimum transmission threshold is less than or equal to the initial channel capacity.

[0184] Optionally, transceiver 903 is specifically used to transmit the video according to the first minimum transmission threshold and the increased channel capacity when the first minimum transmission threshold is less than or equal to the increased channel capacity.

[0185] Optionally, transceiver 903 is specifically used to transmit the video based on the first minimum transmission threshold and the increased channel capacity when the sum of the increased transmit power and the processing power is less than or equal to the maximum onboard power of the device and the first minimum transmission threshold is less than or equal to the increased channel capacity.

[0186] Optionally, transceiver 903 is specifically used to perform the step of increasing the initial channel capacity of the current UAV to obtain the increased channel capacity when the first minimum transmission threshold is greater than the increased channel capacity.

[0187] Optionally, the processor 902 is specifically configured to, when the sum of the increased transmit power and the processing power is less than or equal to the maximum onboard power of the device, and the first minimum transmission threshold is greater than the increased channel capacity, use the increased channel capacity as the initial channel capacity, and execute the step of increasing the initial channel capacity of the current UAV to obtain the increased channel capacity.

[0188] Optionally, the processor 902 is also configured to perform degradation processing on the video when the sum of the increased transmit power and the processing power exceeds the maximum onboard power of the device.

[0189] Optionally, the processor 902 is further configured to, when the channel capacity is increased again to the upper limit of the channel capacity, if the first minimum transmission threshold is greater than the upper limit of the channel capacity, perform degradation processing on the video, and reset the upper limit of the channel capacity to the initial channel capacity, increase the initial channel capacity of the current UAV, and obtain the increased channel capacity.

[0190] The transceiver 903 is also used to transmit the degraded video according to the second minimum transmission threshold corresponding to the degraded video and the increased channel capacity.

[0191] Optionally, the processor 902 is specifically used to reduce the current resolution of the video; and to determine a second minimum transmission threshold corresponding to the video with the reduced current resolution according to the preset mapping relationship.

[0192] Optionally, transceiver 903 is specifically configured to transmit video at a reduced current resolution when the second minimum transmission threshold is less than or equal to the increased channel capacity.

[0193] Optionally, transceiver 903 is specifically used to transmit video at a reduced current resolution when the sum of the increased transmit power and processing power is less than or equal to the maximum onboard power of the device and the second minimum transmission threshold is less than or equal to the increased channel capacity.

[0194] Optionally, the processor 902 is specifically configured to, when the second minimum transmission threshold is greater than the increased channel capacity, use the degraded video as the video and perform the step of degrading the video, wherein each time degradation is performed, the channel capacity is increased once.

[0195] Optionally, the processor 902 is specifically configured to, when the sum of the increased transmit power and the processing power is greater than the maximum onboard power of the device, and the second minimum transmission threshold is greater than the increased channel capacity, use the degraded video as the video and perform the step of degrading the video.

[0196] Optionally, the processor 902 is further configured to, when the degraded video reaches the lower limit of the degradation level, determine the lower minimum transmission threshold corresponding to the video that reaches the lower limit of the degradation level according to the preset mapping relationship; and when the lower minimum transmission threshold is greater than the corresponding increased channel capacity, use a target detection algorithm to detect the video and obtain a detection result.

[0197] The transceiver 903 is also used to transmit the detection result when the minimum transmission threshold corresponding to the detection result is less than or equal to the corresponding increased channel capacity.

[0198] Optionally, transceiver 903 is specifically used to transmit the detection result when the sum of the increased transmit power and processing power is less than or equal to the maximum onboard power of the device, and when the minimum transmission threshold corresponding to the detection result is less than or equal to the corresponding increased channel capacity.

[0199] Optionally, transceiver 903 is specifically used to terminate data transmission when the minimum transmission threshold corresponding to the detection result is greater than the corresponding increased channel capacity.

[0200] Optionally, transceiver 903 is specifically used to terminate data transmission when the sum of the increased transmit power and processing power is greater than the maximum onboard power of the device, and when the minimum transmission threshold corresponding to the detection result is greater than the corresponding increased channel capacity.

[0201] In the above embodiments, implementation can be achieved entirely or partially through software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented entirely or partially as a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of the present invention are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium that a computer can store or a data storage device such as a server or data center that integrates one or more available media. The available medium can be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., solid state disk (SSD)).

[0202] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0203] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection between apparatuses or units through some interfaces, and may be electrical, mechanical, or other forms.

[0204] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0205] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0206] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0207] The above-described embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. A method for processing and transmitting video data related to UAV swarm detection, characterized in that, include: Obtain video from the detected scene; Based on a preset mapping relationship, determine the first minimum transmission threshold corresponding to the video; If the first minimum transmission threshold is greater than the initial channel capacity of the current drone, the initial channel capacity of the current drone is increased according to the channel capacity of each drone in the drone cluster, so as to obtain the increased channel capacity. If the sum of the increased transmit power and the processing power is less than or equal to the maximum onboard power of the device, and the first minimum transmission threshold is less than or equal to the increased channel capacity, the video is transmitted according to the first minimum transmission threshold and the increased channel capacity. or, If the sum of the increased transmit power and processing power is less than or equal to the maximum onboard power of the drone, and the first minimum transmission threshold is greater than the increased channel capacity, the increased channel capacity is used as the initial channel capacity, and the initial channel capacity of the current drone is increased to obtain the increased channel capacity.

2. The method according to claim 1, characterized in that, The step of increasing the channel capacity of the current drone based on the channel capacity of each drone in the drone cluster, to obtain the increased channel capacity, includes: Based on the communication bandwidth and onboard power of each drone in the drone swarm, dynamically increase the communication bandwidth and / or onboard power of the current drone. The increased channel capacity is determined based on the current increased communication bandwidth and / or onboard power of the UAV.

3. The method according to claim 2, characterized in that, The airborne power includes at least one of processing power and transmission power.

4. The method according to claim 3, characterized in that, When the airborne power includes the transmit power, increasing the initial channel capacity of the current UAV to obtain the increased channel capacity includes: The increased initial transmission power is obtained based on the initial transmission power and the preset transmission power iteration step size; The increased channel capacity is determined based on the increased initial transmit power.

5. The method according to any one of claims 1-4, characterized in that, The method further includes: If the first minimum transmission threshold is less than or equal to the initial channel capacity, the video is transmitted according to the minimum transmission threshold.

6. The method according to any one of claims 1-4, characterized in that, The method further includes: If the sum of the increased transmission power and processing power exceeds the maximum onboard power of the device, the video will be degraded.

7. The method according to claim 1, characterized in that, The method further includes: If the channel capacity is increased again to the upper limit of the channel capacity, and if the first minimum transmission threshold is greater than the upper limit of the channel capacity, then the video is degraded, the upper limit of the channel capacity is reset to the initial channel capacity, and the initial channel capacity of the current UAV is increased to obtain the increased channel capacity. The degraded video is transmitted according to the second minimum transmission threshold corresponding to the degraded video and the increased channel capacity.

8. The method according to claim 7, characterized in that, The degradation processing of the video includes: Reduce the current resolution of the video; Based on the preset mapping relationship, a second minimum transmission threshold corresponding to the video with reduced current resolution is determined.

9. The method according to claim 8, characterized in that, The step of transmitting the degraded video according to the second minimum transmission threshold corresponding to the degraded video and the increased channel capacity includes: If the second minimum transmission threshold is less than or equal to the increased channel capacity, the video with reduced current resolution is transmitted.

10. The method according to claim 9, characterized in that, The step of transmitting video at a reduced current resolution when the second minimum transmission threshold is less than or equal to the increased channel capacity includes: If the sum of the increased transmit power and processing power is less than or equal to the maximum onboard power of the device, and the second minimum transmission threshold is less than or equal to the increased channel capacity, then the video with reduced current resolution is transmitted.

11. The method according to claim 8, characterized in that, The step of transmitting the degraded video according to the second minimum transmission threshold corresponding to the degraded video and the increased channel capacity includes: If the second minimum transmission threshold is greater than the increased channel capacity, the degraded video is used as the video, and the step of degrading the video is performed, wherein the channel capacity is increased once for each degradation process.

12. The method according to claim 11, characterized in that, When the second minimum transmission threshold is greater than the increased channel capacity, the degraded video is used as the video, and the step of performing the video degradation processing includes: If the sum of the increased transmit power and processing power is greater than the maximum onboard power of the device, and the second minimum transmission threshold is greater than the increased channel capacity, then the degraded video is used as the video, and the step of degrading the video is performed.

13. The method according to claim 8, characterized in that, The method further includes: When the degraded video reaches the lower limit of the degradation level, the minimum transmission threshold corresponding to the video that has reached the lower limit of the degradation level is determined according to the preset mapping relationship. If the lower limit of the minimum transmission threshold is greater than the corresponding increased channel capacity, the target detection algorithm is used to detect the video to obtain the detection result; The detection result is transmitted if the minimum transmission threshold corresponding to the detection result is less than or equal to the corresponding increased channel capacity.

14. The method according to claim 13, characterized in that, When the minimum transmission threshold corresponding to the detection result is less than or equal to the corresponding increased channel capacity, sending the detection result includes: The detection result is transmitted when the sum of the increased transmit power and processing power is less than or equal to the maximum onboard power of the device, and the minimum transmission threshold corresponding to the detection result is less than or equal to the corresponding increased channel capacity.

15. The method according to claim 13, characterized in that, The method further includes: If the minimum transmission threshold corresponding to the detection result is greater than the corresponding increased channel capacity, data transmission is terminated.

16. The method according to claim 15, characterized in that, The step of terminating data transmission when the minimum transmission threshold corresponding to the detection result is greater than the corresponding increased channel capacity includes: If the sum of the increased transmit power and processing power exceeds the maximum onboard power of the device, and the minimum transmission threshold corresponding to the detection result exceeds the corresponding increased channel capacity, data transmission will be terminated.

17. An unmanned aerial vehicle (UAV), characterized in that, include: The processing module is used to obtain video from the detected scene; Based on a preset mapping relationship, determine the first minimum transmission threshold corresponding to the video; If the minimum transmission threshold is greater than the initial channel capacity of the current drone, the initial channel capacity of the current drone is increased according to the channel capacity of each drone in the drone cluster, to obtain the increased channel capacity. The transmission module is configured to transmit the video based on the first minimum transmission threshold and the increased channel capacity when the sum of the increased transmission power and the processing power is less than or equal to the maximum onboard power of the device and the first minimum transmission threshold is less than or equal to the increased channel capacity; or, when the sum of the increased transmission power and the processing power is less than or equal to the maximum onboard power of the device and the first minimum transmission threshold is greater than the increased channel capacity, the module uses the increased channel capacity as the initial channel capacity and performs the step of increasing the initial channel capacity of the current UAV to obtain the increased channel capacity.

18. An unmanned aerial vehicle (UAV), characterized in that, include: Memory containing executable program code; A processor and a transceiver coupled to the memory; The processor is used to obtain video from the detected scene; According to the preset mapping relationship, the first minimum transmission threshold corresponding to the video is determined; if the first minimum transmission threshold is greater than the initial channel capacity of the current drone, the initial channel capacity of the current drone is increased according to the channel capacity of each drone in the drone cluster, so as to obtain the increased channel capacity. The transceiver is configured to transmit the video based on the first minimum transmission threshold and the increased channel capacity when the sum of the increased transmit power and the processing power is less than or equal to the maximum onboard power of the device and the first minimum transmission threshold is less than or equal to the increased channel capacity; or, when the sum of the increased transmit power and the processing power is less than or equal to the maximum onboard power of the device and the first minimum transmission threshold is greater than the increased channel capacity, the transceiver is configured to use the increased channel capacity as the initial channel capacity and perform the step of increasing the initial channel capacity of the current UAV to obtain the increased channel capacity.

19. A computer-readable storage medium comprising instructions that, when executed on a processor, cause the processor to perform the method as claimed in any one of claims 1-16.

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