Remote video transmission system and method for intelligent environmental sanitation fleet

Abstract

The invention discloses a remote video transmission system and method for an intelligent sanitation vehicle team, and the system comprises a client system, an EMQX message server, a video streaming service module, a plurality of data receiving and transmitting modules, and the intelligent sanitation vehicle team, the client system issues a streaming topic to the EMQX message server, subscribes to a streaming link topic of a target sanitation vehicle from the EMQX message server, and transmits the streaming link topic to the video streaming service module; the plurality of data receiving and transmitting modules subscribe to respective corresponding plug-flow topics from the EMQX message server and also publish plug-flow link topics to the EMQX message server, the plurality of data receiving and transmitting modules acquire video streams of the intelligent sanitation vehicle according to the plug-flow topics and plug the video streams to the cloud video stream service module, the video stream service module receives and processes the video streams, and the cloud video stream service module sends the video streams to the cloud video stream service module. And the client side pulls the stream from the video stream service module according to the stream pushing link topic so as to acquire the video stream processed by the target sanitation vehicle. According to the system and the method, the running conditions of a plurality of intelligent sanitation vehicles can be monitored in real time, and abnormal conditions can be found and processed in time.

Description

Technical Field

[0001] The present invention relates to the field of vehicle networking and remote control technology, and in particular to a remote video transmission system and method for an intelligent sanitation vehicle fleet. Background Art

[0002] Mechanized cleaning operations have basically replaced traditional manual cleaning operations. Mechanized operations have greatly improved cleaning efficiency and reduced the intensity of manual operations. As the mechanized operation rate continues to increase, problems such as empty vehicle driving and inadequate cleaning are constantly exposed, and the difficulty of supervision has also increased accordingly. With the growth of the scale of the intelligent sanitation fleet, the video transmission module in the existing remote driving control system can no longer process video streams from multiple intelligent sanitation vehicles at the same time. In order to ensure that the video stream from each intelligent sanitation vehicle can be transmitted and processed in a timely manner, and to ensure that multiple users or monitoring sites can access and operate the video streams of large-scale vehicles at the same time, it is necessary to improve the existing video transmission system so that it can dynamically adjust the distribution strategy according to the client request and network status, to ensure that the video stream can be processed efficiently, and to provide a better user experience. Summary of the invention

[0003] In order to solve the problem of real-time and efficient transmission of large amounts of video data generated during the operation of large-scale intelligent sanitation fleets, the present invention application proposes a remote video transmission system and method for intelligent sanitation fleets to achieve real-time and efficient transmission of remote videos of intelligent sanitation fleets.

[0004] On one hand, the present invention provides a remote driving control system for an intelligent sanitation vehicle fleet, which includes a client system, an EMQX message server, a video streaming service module, and a plurality of data transceiver modules arranged on a plurality of intelligent sanitation vehicles and the same number as the plurality of intelligent sanitation vehicles. The client system is connected to the plurality of data transceiver modules through the EMQX message server, and the client system is also connected to the plurality of data transceiver modules through the video streaming service module, wherein: The client system is used to publish the push stream topic to the EMQX message server, and is also used to subscribe to the push stream link topic of the target sanitation vehicle from the EMQX message server; The EMQX message server is used to receive and cache streaming topics published by the client system and streaming link topics published by multiple data transceiver modules; Multiple data transceiver modules are used to subscribe to push stream topics that match their corresponding smart sanitation vehicle IDs from the EMQX message server, and are also used to publish push stream link topics to the EMQX message server; Multiple data transceiver modules obtain the video stream of the intelligent sanitation vehicle according to the push stream topic and push it to the video stream service module. The video stream service module is used to receive and process the video streams transmitted by multiple data transceiver modules. The client system pulls the stream from the video stream service module according to the push stream link topic to obtain the video stream of the target sanitation vehicle.

[0005] Preferably, the client system is specifically a Web application, which is connected to the EMQX message server to realize the publishing of streaming topics and the subscription of streaming connection topics.

[0006] Preferably, the Web application includes several simulated cockpits, and the remote operator can send streaming topics to the EMQX message server through the simulated cockpit, and can also subscribe to streaming link topics from the EMQX message server through the simulated cockpit.

[0007] Preferably, the video stream service module includes a cloud service load balancer and an SRS server cluster connected to the cloud service load balancer, and the SRS server cluster includes several SRS servers.

[0008] Preferably, several SRS servers can be divided into master servers and slave servers, each SRS server in the master server is respectively connected to the cloud service load balancer, each SRS server in the master server is also respectively connected to each SRS server in the slave server, and each SRS server in the slave server is connected to the cloud service load balancer.

[0009] Preferably, the system also includes an application server and a database. The application server is respectively connected to the database, the EMQX message server and the client system and exchanges information. The application server receives and processes the streaming connection from the EMQX message server and stores the processed streaming connection in the database.

[0010] Preferably, the smart sanitation vehicle is provided with a vehicle controller and a multi-channel video acquisition unit. The data transceiver module and the multi-channel video acquisition unit are respectively connected to the vehicle controller. The data transceiver module subscribes to the streaming topic from the EMQX message server and sends it to the vehicle controller. The vehicle controller collects the video stream of the smart sanitation vehicle during operation through the multi-channel video acquisition unit according to the streaming topic. The data transceiver module publishes the streaming link topic to the EMQX message server and pushes the video stream to the video stream service module.

[0011] Another aspect of the present invention provides a remote video transmission method for an intelligent sanitation vehicle fleet, the method comprising the following steps: S1. The remote operator inputs the streaming topic in the client system and publishes it to the EMQX message server. The EMQX message server receives and stores the streaming topic. S2. The data transceiver module on the smart sanitation vehicle subscribes to the push stream topic that matches the corresponding smart sanitation vehicle ID from the EMQX message server, obtains the video stream of the smart sanitation vehicle according to the push stream topic and pushes it to the video stream service module, and also publishes the push stream link topic to the EMQX message server; S3. The client system subscribes to the push stream link topic of the target sanitation vehicle from the EMQX message server, and pulls the stream from the video stream service module according to the push stream link topic; S4. The video stream service module receives the video stream of the intelligent sanitation vehicle and processes it using a load balancing strategy, and sends the processed video stream of the target sanitation vehicle to the client system.

[0012] Preferably, the video stream service module includes a cloud service load balancer and an SRS server cluster connected to the cloud service load balancer, the SRS server cluster includes a plurality of SRS servers, and S4 specifically includes the following steps: S41, the cloud service load balancer receives the video streams of multiple smart sanitation vehicles, and selects an SRS server from the SRS server cluster to process the video stream corresponding to any one of the smart sanitation vehicles using a load balancing algorithm; S42, the selected SRS server performs protocol conversion on the video stream to be processed to obtain a video stream that meets the requirements of the client; S43: Send the video stream that meets the client's requirements to the client system through the cloud service load balancer.

[0013] The above-mentioned remote video transmission system and method of an intelligent sanitation vehicle fleet includes a client system, an EMQX message server, a video stream service module, and data transceiver modules arranged on multiple intelligent sanitation vehicles and the same number as the multiple intelligent sanitation vehicles. The client system publishes a push stream topic to the EMQX message server, and multiple data transceiver modules subscribe to push stream topics that match the corresponding intelligent sanitation vehicle IDs from the EMQX message server, obtain the video stream of the intelligent sanitation vehicle according to the push stream topic and push it to the video stream service module, and also publish a push stream link topic to the EMQX message server. The client system pulls the stream from the video stream service module according to the push stream link topic, and the video stream service module receives and processes the video streams transmitted by multiple data transceiver modules, and sends the video stream of the target sanitation vehicle to the client system. The system and method can monitor multiple video streams of multiple intelligent sanitation vehicles in real time, and realize unified management of multiple video streams through the client system, which is helpful to monitor intelligent sanitation vehicles in a wide range of scenes or multiple places, and timely discover and handle abnormal situations. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a structural schematic diagram of a remote video transmission system of an intelligent sanitation vehicle fleet in one embodiment of the present invention; Figure 2 is a schematic diagram of the structure of a video stream service module in one embodiment of the present invention; Figure 3 It is a schematic diagram of the operation of a remote video transmission system of an intelligent sanitation vehicle fleet in one embodiment of the present invention; Figure 4 is a schematic diagram of the operation of a remote video transmission system for an intelligent sanitation vehicle fleet in another embodiment of the present invention; Figure 5 It is a flow chart of a remote video transmission method of an intelligent sanitation vehicle fleet in one embodiment of the present invention. DETAILED DESCRIPTION

[0015] In order to enable those skilled in the art to better understand the technical solution of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings.

[0016] A remote video transmission system for intelligent sanitation fleet, see Figure 1 and Figure 3 , including a client system, an EMQX message server, a video streaming service module, and a plurality of data transceiver modules arranged on a plurality of intelligent sanitation vehicles and the same number as the plurality of intelligent sanitation vehicles, the client system is connected to the plurality of data transceiver modules through the EMQX message server, and the client system is also connected to the plurality of data transceiver modules through the video streaming service module, wherein: The client system is used to publish the push stream topic to the EMQX message server, and is also used to subscribe to the push stream link topic of the target sanitation vehicle from the EMQX message server; The EMQX message server is used to receive and cache streaming topics published by the client system and streaming link topics published by multiple data transceiver modules; Multiple data transceiver modules are used to subscribe to push stream topics that match their corresponding smart sanitation vehicle IDs from the EMQX message server, and are also used to publish push stream link topics to the EMQX message server; Multiple data transceiver modules obtain the video stream of the intelligent sanitation vehicle according to the push stream topic and push it to the video stream service module. The video stream service module is used to receive and process the video streams transmitted by multiple data transceiver modules. The client system pulls the stream from the video stream service module according to the push stream link topic to obtain the video stream of the target sanitation vehicle.

[0017] The above remote video transmission system forms a collaborative system through the client system, EMQX message server, video stream service module, multiple data transceiver modules and a smart sanitation vehicle fleet composed of multiple smart sanitation vehicles, so as to realize effective monitoring, management and remote operation of smart sanitation vehicles deployed in multiple parks. Among them, the terminal connected to the EMQX message server can be the publisher and / or subscriber of the message. The EMQX message server uses the MQTT protocol to perform message transmission and reception analysis and realize the publication or subscription of topics. The necessary authentication and authorization mechanism can be configured on the EMQX message server to ensure that only after authorization can the relevant topics be published or subscribed through the EMQX message server. The EMQX message server parses the received topics, extracts the required data and performs corresponding processing. Multiple data transceiver modules subscribe to their corresponding push stream topics from the EMQX message server, obtain the video stream of the smart sanitation vehicle according to the push stream topic, publish the link address corresponding to the video stream to the EMQX message server in the form of a push stream link topic, and upload the corresponding video stream to the video stream service module according to the agreed protocol.

[0018] In one embodiment, the client system is specifically a Web application, which is connected to the EMQX message server to implement the publishing of streaming topics and the subscription of streaming link topics.

[0019] Specifically, the client system can be a Web application, which connects to the EMQX message server to realize the publishing and subscription of related topics, including the publishing of push stream topics and the subscription of push stream link topics. The Web application has built-in WebRTC functions and supports the playback of audio and video streaming media data. Remote operators can publish push stream topics to the EMQX message server through the Web application, and can also subscribe to the push stream link topic of the target sanitation vehicle from the EMQX message server. According to the push stream link topic, the video stream of the target sanitation vehicle is obtained from the video stream service module and displayed on the client system.

[0020] In one embodiment, the Web application includes several simulated cockpits, and the remote operator can send streaming topics to the EMQX message server through the simulated cockpits, and can also subscribe to streaming link topics from the EMQX message server through the simulated cockpits.

[0021] Specifically, the Web application can include a simulation cockpit, which can be deployed based on actual factors such as the number of parks and the scale of the smart sanitation vehicle. Each park can have its own simulation cockpit, or several parks can share one simulation cockpit. It can be flexibly deployed based on the scale of the smart sanitation vehicle to ensure that even if the simulation cockpit of one park fails, the simulation cockpits of other parks can still operate normally. Remote operators can bind the smart sanitation vehicles within their management scope through the simulated cockpit. After binding the simulated cockpit, remote operators can send streaming topics to the EMQX message server through the simulated cockpit, or subscribe to streaming link topics from the EMQX message server through the simulated cockpit; remote operators can also send remote control topics to the EMQX message server through the simulated cockpit, and multiple data transceiver modules subscribe to remote control topics that match their corresponding smart sanitation vehicle IDs from the EMQX message server to achieve remote control of the smart sanitation vehicle. Specifically, select the "remote driving" mode in the simulated cockpit and select the gear mode. The simulated cockpit enters the remote control of the smart sanitation vehicle. Parameters related to remote control (such as the steering and speed of the smart sanitation vehicle) are sent to the EMQX message server according to the preset cycle. Each data transceiver module subscribes to the remote control topic that matches its corresponding smart sanitation vehicle ID to achieve remote control of the smart sanitation vehicle.

[0022] The Web application also includes functions such as user interface, device management, and data visualization, which can realize more comprehensive system functions, provide device management interface, and allow users to request registration, configuration, and management of device information.

[0023] In one embodiment, the video stream service module includes a cloud service load balancer and an SRS server cluster connected to the cloud service load balancer, and the SRS server cluster includes several SRS servers.

[0024] Specifically, the video stream service module is used to receive and process real-time video stream data from multiple smart sanitation vehicles, including converting the protocol format of the video stream (for example, converting the RTMP format protocol to the WebRTC format protocol, so that the client system using the WebRTC protocol or the corresponding protocol can obtain the video stream and play it); access and forwarding large-scale vehicle-side videos (that is, real-time videos from multiple smart sanitation vehicles), and providing load balancing for the video stream.

[0025] The video streaming service module includes a cloud service load balancer and an SRS server cluster. The SRS server cluster is built using an SRS (Simple Real-time Streaming Server) server. Multiple SRS nodes can be deployed on different physical or virtual servers. One SRS node corresponds to one SRS server. Therefore, the SRS server cluster can include multiple SRS servers.

[0026] Use the cloud service load balancer to distribute the video streams corresponding to multiple smart sanitation vehicles to multiple SRS servers. The cloud service load balancer can monitor the health status of each node and dynamically route the video streams from the vehicle to the available SRS nodes.

[0027] To ensure that the resources of the SRS server cluster can be effectively utilized and that it can process large-scale video streams according to client requests, the cloud service load balancer uses a load balancing algorithm to dynamically allocate video streams to be processed for each SRS server: the corresponding initial weight is set according to the performance of each SRS server and the weighting coefficient is calculated. Generally, SRS servers with better performance will be assigned higher weight values. When a client sends a video stream request to the cloud service load balancer (that is, Figure 2 When the client system in the SRS server cluster pulls the stream), the cloud service load balancer will select an SRS server to process the request in a round-robin manner based on the weighted coefficient of each SRS server in the SRS server cluster. When an SRS server is selected, its weighted coefficient will be updated. In this way, the load of the SRS server cluster can be dynamically adjusted according to the weighted coefficient of each SRS server to better meet the video stream processing request.

[0028] The load balancing algorithm process is as follows: a. Comprehensively evaluate each SRS server based on its CPU capacity, memory size, bandwidth size, hard disk size, and other indicators and set the weight of each SRS server. ; b. Set the number of active connections for each SRS server based on the number of video streams currently being processed by each SRS server. ; c. Calculate the weighted coefficient based on the weight of each SRS server and the number of active connections , ; d. The cloud service load balancer selects the one with the smallest weighted coefficient in a round-robin manner. The SRS server of the computer is selected and the video stream to be processed is assigned to the SRS server for processing.

[0029] e. Update the number of active connections and weighted coefficients of each SRS server.

[0030] Furthermore, several SRS servers can be divided into master servers and slave servers, each SRS server in the master server is connected to the cloud service load balancer respectively, each SRS server in the master server is also connected to each SRS server in the slave server respectively, and each SRS server in the slave server is connected to the cloud service load balancer.

[0031] See also Figure 2 , Figure 2 The video streaming service module in the system is a distributed video streaming service system. It divides multiple SRS servers in the server cluster into master servers and slave servers. The data transceiver module subscribes to the push stream topic from the EMQX message server, obtains the video stream of the smart sanitation vehicle according to the push stream topic, and pushes the video stream to the cloud service load balancer (that is, Figure 2 The data transceiver module in the push stream) publishes the push stream link topic to the EMQX message server, and the cloud service load balancer responds to the video stream request of the client system (that is, Figure 2 The client system in the video stream pulls the stream) and uses a load balancing algorithm to distribute the video stream to a certain SRS server in the main server or slave server for processing, thereby dispersing the pressure of a single SRS server and improving the overall processing capacity of the video stream service module.

[0032] By adopting the above method, when a certain SRS server in the master server fails, the video stream to be processed can be automatically or manually switched to the slave server. The specific SRS server in the slave server can be selected for processing. It can also be selected by polling according to the current weight of each SRS server in the slave server. By setting the master server and the slave server, the continuity of the service can be guaranteed, the interruption time can be reduced, and the stability of the service can be improved. In addition, when the processing business grows, the system can be horizontally expanded by increasing the number of SRS servers in the slave server, without making major changes to the existing architecture, and it is easy to manage and maintain.

[0033] In addition, by setting up the SRS servers in the server cluster as a master-slave architecture, the SRS servers can be maintained or upgraded in turn without interrupting the entire service, ensuring uninterrupted operation of the service. The master-slave architecture can also provide a certain degree of data redundancy, so that when a problem occurs on a part of the SRS servers, the video stream data can still be taken over by other SRS servers, reducing the risk of video stream data loss.

[0034] In one embodiment, the remote video transmission system of the above-mentioned intelligent sanitation fleet also includes an application server and a database. The application server is respectively connected to the database, the EMQX message server and the client system and exchanges information. The application server receives and processes the streaming connection from the EMQX message server and stores the processed streaming connection in the database.

[0035] Specifically, see Figure 4 The remote video transmission system of the intelligent sanitation fleet may also include an application server and a database connected to the application server. The application server exchanges information with the EMQX message server through the MQTT protocol. The application server also realizes real-time data interaction with the client system through the HTTP protocol. The application server subscribes to the push stream link from the EMQX message server, obtains the video stream address and splices it according to the client's WebRTC protocol, and stores the spliced ​​video address in the database.

[0036] It should be noted that the above-mentioned EMQX message server, video streaming service module, application server and database can be deployed in the cloud to form a cloud system.

[0037] In one embodiment, a vehicle controller and a multi-channel video acquisition unit are provided on the intelligent sanitation vehicle. The data transceiver module and the multi-channel video acquisition unit are respectively connected to the vehicle controller. The data transceiver module subscribes to the streaming topic from the EMQX message server and sends it to the vehicle controller. The vehicle controller collects the video stream of the intelligent sanitation vehicle during operation through the multi-channel video acquisition unit according to the streaming topic. The data transceiver module publishes the streaming link topic to the EMQX message server and pushes the video stream to the video stream service module.

[0038] Specifically, each smart sanitation vehicle is equipped with a vehicle controller and a multi-channel video acquisition unit connected to the vehicle controller. Each smart sanitation vehicle is also equipped with a data transceiver module, which is connected to the vehicle controller. The vehicle controller controls the multi-channel video acquisition unit to collect relevant video stream data during the operation of the smart sanitation vehicle, and sends the video flow data to the video stream service module through the data transceiver module. The data transceiver module also publishes the push stream link topic to the EMQX message server.

[0039] In one embodiment, see Figure 5 , a remote video transmission method for an intelligent sanitation vehicle fleet, the method comprising the following steps: S1. The remote operator inputs the streaming topic in the client system and publishes it to the EMQX message server. The EMQX message server receives and stores the streaming topic. S2. The data transceiver module on the smart sanitation vehicle subscribes to the push stream topic that matches the corresponding smart sanitation vehicle ID from the EMQX message server, obtains the video stream of the smart sanitation vehicle according to the push stream topic and pushes it to the video stream service module, and also publishes the push stream link topic to the EMQX message server; S3. The client system subscribes to the push stream link topic of the target sanitation vehicle from the EMQX message server, and pulls the stream from the video stream service module according to the push stream link topic; S4. The video stream service module receives the video stream of the intelligent sanitation vehicle and processes it using a load balancing strategy, and sends the processed video stream of the target sanitation vehicle to the client system.

[0040] Further, the video stream service module includes a cloud service load balancer and an SRS server cluster connected to the cloud service load balancer, the SRS server cluster includes a plurality of SRS servers, and S4 specifically includes the following steps: S41, the cloud service load balancer receives the video streams of multiple smart sanitation vehicles, and selects an SRS server from the SRS server cluster to process the video stream corresponding to any one of the smart sanitation vehicles using a load balancing algorithm; S42, the selected SRS server performs protocol conversion on the video stream to be processed to obtain a video stream that meets the requirements of the client; S43: Send the video stream that meets the client's requirements to the client system through the cloud service load balancer.

[0041] For the specific definition of a remote video transmission method for an intelligent sanitation fleet, please refer to the definition of a remote video transmission system for an intelligent sanitation fleet mentioned above, which will not be repeated here.

[0042] The above-mentioned remote video transmission system and method of an intelligent sanitation vehicle fleet includes a client system, an EMQX message server, a video stream service module, and data transceiver modules arranged on multiple intelligent sanitation vehicles and the same number as the multiple intelligent sanitation vehicles. The client system publishes a push stream topic to the EMQX message server, and multiple data transceiver modules subscribe to push stream topics matching the corresponding intelligent sanitation vehicle IDs from the EMQX message server, obtain the video stream of the intelligent sanitation vehicle according to the push stream topic and push it to the video stream service module, and also publish a push stream link topic to the EMQX message server. The client system pulls the stream from the video stream service module according to the push stream link topic, and the video stream service module receives and processes the video streams transmitted by multiple data transceiver modules, and sends the video stream of the target sanitation vehicle to the client system. The system and method can monitor multiple video streams of multiple intelligent sanitation vehicles in real time, and realize unified management of multiple video streams through the user-side system, which is helpful to monitor intelligent sanitation vehicles in a wide range of scenes or multiple places, and timely discover and handle abnormal situations.

[0043] The above is a detailed introduction to the remote video transmission system and method for the intelligent sanitation fleet provided by the present invention. This article uses specific examples to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the core idea of ​​the present invention. It should be pointed out that for ordinary technicians in this technical field, without departing from the principles of the present invention, several improvements and modifications can be made to the present invention, and these improvements and modifications also fall within the scope of protection of the claims of the present invention.

Claims

1. A remote video transmission system for an intelligent sanitation fleet, characterized in that: The system includes a client system, an EMQX message server, a video stream service module, and multiple data transceiver modules arranged on multiple intelligent sanitation vehicles and the same number as the multiple intelligent sanitation vehicles. The client system is connected to the multiple data transceiver modules through the EMQX message server, and the client system is also connected to the multiple data transceiver modules through the video stream service module, wherein: The client system is used to publish the push stream topic to the EMQX message server, and is also used to subscribe to the push stream link topic of the target sanitation vehicle from the EMQX message server; The EMQX message server is used to receive and cache streaming topics published by the client system and streaming link topics published by multiple data transceiver modules; Multiple data transceiver modules are used to subscribe to push stream topics that match their corresponding smart sanitation vehicle IDs from the EMQX message server, and are also used to publish push stream link topics to the EMQX message server; Multiple data transceiver modules obtain the video stream of the intelligent sanitation vehicle according to the push stream topic and push it to the video stream service module. The video stream service module is used to receive and process the video streams transmitted by multiple data transceiver modules. The client system pulls the stream from the video stream service module according to the push stream link topic to obtain the video stream of the target sanitation vehicle.

2. The remote video transmission system for the intelligent sanitation fleet as claimed in claim 1, characterized in that: The client system is specifically a Web application, which is connected to the EMQX message server to realize the publishing of streaming topics and the subscription of streaming link topics.

3. The remote video transmission system for the intelligent sanitation fleet as claimed in claim 2, characterized in that: The web application contains several simulated cockpits. Remote operators can send streaming topics to the EMQX message server through the simulated cockpits, or subscribe to streaming link topics from the EMQX message server through the simulated cockpits.

4. The remote video transmission system for the intelligent sanitation fleet as claimed in claim 3, characterized in that: The video stream service module includes a cloud service load balancer and an SRS server cluster connected to the cloud service load balancer, and the SRS server cluster includes several SRS servers.

5. The remote video transmission system for the intelligent sanitation fleet as claimed in claim 4, characterized in that: Several SRS servers can be divided into master servers and slave servers. Each SRS server in the master server is connected to the cloud service load balancer respectively. Each SRS server in the master server is also connected to each SRS server in the slave server respectively. Each SRS server in the slave server is connected to the cloud service load balancer.

6. The remote video transmission system for the intelligent sanitation fleet as claimed in claim 5, characterized in that: The system also includes an application server and a database. The application server is connected to the database, the EMQX message server and the client system respectively and exchanges information. The application server receives and processes the streaming connection from the EMQX message server and stores the processed streaming connection in the database.

7. The remote video transmission system for the intelligent sanitation vehicle fleet as claimed in claim 6, characterized in that: The smart sanitation vehicle is equipped with a vehicle controller and a multi-channel video acquisition unit. The data transceiver module and the multi-channel video acquisition unit are connected to the vehicle controller respectively. The data transceiver module subscribes to the streaming topic from the EMQX message server and sends it to the vehicle controller. The vehicle controller collects the video stream of the smart sanitation vehicle during operation through the multi-channel video acquisition unit according to the streaming topic. The data transceiver module publishes the streaming link topic to the EMQX message server and pushes the video stream to the video stream service module.

8. A remote video transmission method for an intelligent sanitation fleet, characterized in that: The method comprises the following steps: S1. The remote operator inputs the streaming topic in the client system and publishes it to the EMQX message server. The EMQX message server receives and stores the streaming topic. S2. The data transceiver module on the smart sanitation vehicle subscribes to the push stream topic that matches the corresponding smart sanitation vehicle ID from the EMQX message server, obtains the video stream of the smart sanitation vehicle according to the push stream topic and pushes it to the video stream service module, and also publishes the push stream link topic to the EMQX message server; S3. The client system subscribes to the push stream link topic of the target sanitation vehicle from the EMQX message server, and pulls the stream from the video stream service module according to the push stream link topic; S4. The video stream service module receives the video stream of the intelligent sanitation vehicle and processes it using a load balancing strategy, and sends the processed video stream of the target sanitation vehicle to the client system.

9. The remote video transmission method of the intelligent sanitation vehicle fleet as claimed in claim 8, characterized in that: The video streaming service module includes a cloud service load balancer and an SRS server cluster connected to the cloud service load balancer. The SRS server cluster includes several SRS servers. S4 specifically includes the following steps: S41, the cloud service load balancer receives the video streams of multiple smart sanitation vehicles, and selects an SRS server from the SRS server cluster to process the video stream corresponding to any one of the smart sanitation vehicles using a load balancing algorithm; S42, the selected SRS server performs protocol conversion on the video stream to be processed to obtain a video stream that meets the requirements of the client; S43: Send the video stream that meets the client's requirements to the client system through the cloud service load balancer.

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