Data transmission method, electronic equipment and medium

Abstract

The invention provides a data transmission method, electronic equipment and a medium, the data transmission method is applied to a second terminal in a data transmission system, the system comprises a first terminal and the second terminal, and the data transmission method comprises the following steps: determining a panoramic image; determining a target area from an acquisition range corresponding to the panoramic image; a high-definition image corresponding to the target area is determined, and the resolution of the panoramic image is lower than that of the high-definition image; according to the panoramic image and a high-definition image corresponding to the target area, determining environment data used for being transmitted to the first terminal; the environment data is transmitted to a first terminal, so that the first terminal determines display data according to the environment data, and the first terminal is used for displaying the display data to a user. According to the technical scheme, the data transmission efficiency can be improved.

Description

Technical Field

[0001] The present application relates to the technical field of data transmission, and in particular to a data transmission method, electronic equipment and medium. Background Art

[0002] With the continuous advancement of computer technology, virtual reality (VR) technology has been widely used in people's lives. As one of the main applications of virtual reality technology, teleoperation technology is naturally also used in many fields such as medical surgery and autonomous driving to perform business.

[0003] Generally, teleoperation technology can be applied to VR systems that include local and remote ends. After the VR system is started, the remote end collects images around the remote device and sends the collected images to the local end. The user performs corresponding operations on the local end according to the images sent back to the local end, and the local end sends the operation data corresponding to the corresponding operation to the remote end. The remote device controls its own posture to change according to the received operation data to execute the business, and re-collects environmental data after the posture changes and sends it to the local end until the business execution is completed.

[0004] However, when the remote and local ends are transmitting data, a lot of data often needs to be transmitted. When the network bandwidth is limited, it takes a long time to complete the data transmission, resulting in a large delay in the VR system and low service execution efficiency. Based on this, this specification provides a data transmission method. Summary of the invention

[0005] In view of this, an embodiment of the present application provides a data transmission method, an electronic device and a medium, which can improve data transmission efficiency.

[0006] In a first aspect, an embodiment of the present application provides a data transmission method, which is applied to a second terminal in a data transmission system, the system comprising a first terminal and a second terminal, the data transmission method comprising: determining a panoramic image; determining a target area from a collection range corresponding to the panoramic image; determining a high-definition image corresponding to the target area, wherein the resolution of the panoramic image is lower than the resolution of the high-definition image; determining environmental data for transmission to the first terminal based on the panoramic image and the high-definition image; transmitting the environmental data to the first terminal so that the first terminal determines display data based on the environmental data, wherein the first terminal is used to display the display data to a user.

[0007] In a second aspect, an embodiment of the present application provides a data transmission method, which is applied to a first terminal in a data transmission system, the data transmission system comprising a first terminal and a second terminal, the data transmission method comprising: receiving environmental data sent by the second terminal, wherein the environmental data is determined based on a panoramic image and a high-definition image corresponding to a target area, the target area is determined from a collection range corresponding to the panoramic image, and the resolution of the panoramic image is lower than the resolution of the high-definition image; determining display data based on the environmental data, and the display data is used to display to a user.

[0008] In a third aspect, an embodiment of the present application provides a data transmission device, which is applied to a second terminal in a data transmission system, the data transmission system includes a first terminal and a second terminal, and the data transmission device includes: a first determination module, used to determine a panoramic image; a second determination module, used to determine a target area from a collection range corresponding to the panoramic image; a third determination module, used to determine a high-definition image corresponding to the target area, wherein the resolution of the panoramic image is lower than the resolution of the high-definition image; an environmental data determination module, used to determine environmental data for transmission to the first terminal based on the panoramic image and the high-definition image corresponding to the target area; a transmission module, used to transmit the environmental data to the first terminal, so that the first terminal determines display data based on the environmental data, wherein the first terminal is used to display the display data to a user.

[0009] In a fourth aspect, an embodiment of the present application provides a data transmission device, which is applied to a first terminal in a data transmission system, the data transmission system includes a first terminal and a second terminal, and the data transmission device includes: a receiving module, used to receive environmental data sent by the second terminal, wherein the environmental data is determined based on a panoramic image and a high-definition image corresponding to a target area, the target area is determined from a collection range corresponding to the panoramic image, and the resolution of the panoramic image is lower than the resolution of the high-definition image; a display module, used to determine display data based on the environmental data, and the display data is used to be displayed to a user.

[0010] In a fifth aspect, an embodiment of the present application provides a data transmission system, comprising a first terminal and a second terminal, wherein: the second terminal is used to: determine a panoramic image; determine a target area from a collection range corresponding to the panoramic image; determine a high-definition image corresponding to the target area, wherein the resolution of the panoramic image is lower than the resolution of the high-definition image; determine environmental data for transmission to the first terminal based on the panoramic image and the high-definition image; transmit the environmental data to the first terminal; the first terminal is used to: receive the environmental data sent by the second terminal; determine display data based on the environmental data, and the display data is used to display to the user.

[0011] In a sixth aspect, an embodiment of the present application provides an electronic device, comprising: a processor; and a memory for storing processor-executable instructions, wherein the processor is used to execute the data transmission method of the first aspect or the second aspect above.

[0012] In a seventh aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the storage medium stores a computer program, and the computer program is used to execute the data transmission method of the first aspect or the second aspect mentioned above.

[0013] In an eighth aspect, an embodiment of the present application provides a computer program product, which includes a computer program. When the computer program is executed by a processor of a computer device, the computer device is enabled to execute the data transmission method of the first aspect or the second aspect mentioned above.

[0014] In a ninth aspect, an embodiment of the present application provides a chip, comprising: a processor; and a memory for storing processor executable instructions, wherein the processor is used to execute the data transmission method of the first aspect or the second aspect mentioned above.

[0015] The embodiment of the present application provides a data transmission method, an electronic device and a medium. The data transmission method is applied to a second terminal in a data transmission system. The system includes a first terminal and a second terminal. The data transmission method includes: determining a panoramic image; determining a target area from a collection range corresponding to the panoramic image; determining a high-definition image corresponding to the target area, wherein the resolution of the panoramic image is lower than the resolution of the high-definition image; determining environmental data for transmission to the first terminal based on the panoramic image and the high-definition image corresponding to the target area; transmitting the environmental data to the first terminal so that the first terminal determines display data based on the environmental data, wherein the first terminal is used to display the display data to the user. The technical solution of the present application can improve the efficiency of data transmission. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 Shown is a schematic diagram of the system architecture of a data transmission system provided by an exemplary embodiment of the present application.

[0017] Figure 2 Shown is a flow chart of a data transmission method provided by an exemplary embodiment of the present application.

[0018] Figure 3 Shown is a flow chart of a data transmission method provided by an exemplary embodiment of the present application.

[0019] Figure 4 Shown is a flow chart of a data transmission method provided by an exemplary embodiment of the present application.

[0020] Figure 5Shown is a schematic structural diagram of a data transmission device provided by an exemplary embodiment of the present application.

[0021] Figure 6 Shown is a schematic structural diagram of a data transmission device provided by an exemplary embodiment of the present application.

[0022] Figure 7 Shown is a block diagram of an electronic device for executing a data transmission method provided by an exemplary embodiment of the present application. DETAILED DESCRIPTION

[0023] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0024] Application Overview

[0025] At present, if a VR system includes a first terminal and a second terminal, wherein the first terminal and the second terminal communicate with each other as an example, then when the VR system performs data transmission, it can generally be divided into two stages.

[0026] The first stage is the environment construction stage, in which the second terminal can collect high-definition images around itself and send the collected high-definition images to the first terminal at a preset frame rate. The first terminal can receive the high-definition images sent by the second terminal, construct display data based on the high-definition images, and display the display data to the user. In other words, within a period of time, the first terminal needs to receive multiple high-definition images corresponding to different collection ranges in order to construct relatively complete display data, which requires the second terminal to transmit high-definition images to the first terminal at a preset frame rate.

[0027] The second stage is the execution stage, in which the user can perform corresponding operations according to the displayed data. The first terminal can determine the operation data in response to the corresponding operation performed by the user, and send the operation data to the second terminal. The second terminal adjusts its posture according to the received operation data, and after adjusting the posture, re-collects the high-definition image around itself, and sends the collected high-definition image to the first terminal at a preset frame rate. Repeat the above process until the VR system completes the corresponding business.

[0028] However, since a large amount of high-definition images corresponding to scene information are required when constructing display data, that is, multiple high-definition images corresponding to different acquisition ranges are required, the second terminal needs to transmit a large amount of high-definition images to the first terminal, whether in the environment construction stage or in the execution stage, so that the first terminal can construct display data based on a large amount of high-definition images. This results in a large amount of data to be transmitted. In the case of limited network bandwidth, it takes a long time to complete the data transmission. In other words, a data transmission takes a long time, resulting in a large time difference between the user's perception and actual feedback, which will cause a greater risk when executing services with high real-time requirements (such as medical surgery services).

[0029] In response to the above technical problems, an embodiment of the present application provides a data transmission method, which determines a panoramic image with a resolution lower than that of a high-definition image, and then determines the target area from the acquisition range corresponding to the panoramic image to determine the high-definition image corresponding to the target area, and then determines the environmental data based on the panoramic image and the high-definition image corresponding to the target area, and finally sends the environmental data to the first terminal, so that the first terminal determines the display data based on the environmental data and displays it to the user. In this way, the embodiment of the present application only needs to transmit the panoramic image and the high-definition image corresponding to the target area, so that the first terminal can construct the display data of the target area in high definition and other areas relatively blurred relative to the target area. The amount of data transmitted is smaller, and in the case of limited bandwidth, the time required is shorter, thereby improving the data transmission efficiency. At the same time, when executing services with high real-time requirements, the risks involved will also be smaller.

[0030] In addition, since the data transmitted in the present application includes panoramic images, the purpose of allowing the first terminal to construct relatively complete display data based on the received panoramic image and high-definition image can be achieved by transmitting a panoramic image and a high-definition image. The amount of data transmitted is much smaller than the amount of data currently transmitted for multiple high-definition images. This also means that the frame rate at which the second terminal transmits the panoramic image and the high-definition image of the target area can be much lower than the frame rate currently transmitted for multiple high-definition images, thereby improving data transmission efficiency.

[0031] Exemplary Systems

[0032] Figure 1 FIG. 1 is a schematic diagram of a system architecture of a data transmission system 100 provided by an exemplary embodiment of the present application. Figure 1As shown, the data transmission system may include a first terminal 110 and a second terminal 120. The first terminal 110 may be a terminal held by a user such as a mobile phone, a tablet computer, a smart device, or a display screen panel provided by a service provider to a user. The second terminal 120 may be an intelligent mechanical device, including an industrial robot, a mechanical arm (such as a single-arm robot, a dual-arm robot, a multi-arm robot), an unmanned vehicle (such as an unmanned vehicle, a drone), and a surgical robot.

[0033] The second terminal 120 is used to collect images around itself, and determine environmental data to be sent to the first terminal 110 based on the images around itself, and send the environmental data to the first terminal 110. The first terminal 110 is used to determine display data based on the environmental data, and display the display data to the user, so that the user can interact with the first terminal based on the display data, and determine operation data based on the user's operation, and send the operation data to the second terminal 120. The second terminal 120 can adjust its own posture based on the received operation data, and after adjusting the posture, re-collect the images around itself, and then re-determine the environmental data. Repeat the above steps until the data transmission system completes the corresponding business.

[0034] In one example, the second terminal 120 may be provided with a sensor 121 and a controller 122. The sensor 121 may be an image sensor. The sensor 121 may be used to determine the image data around the second terminal 120. The controller 122 may determine the environmental data based on the image data determined by the sensor 121, and transmit the environmental data to the first terminal 110. The first terminal 110 may be provided with a controller 111. The controller 111 is used to construct display data based on the received environmental data and display the display data to the user. At the same time, the controller 111 is also used to monitor user operations, determine operation data based on the monitored user operations, and transmit the determined operation data to the second terminal 120. Therefore, the second terminal 120 can control the second terminal itself to adjust its posture based on the received operation data.

[0035] In one example, the data transmission system is a VR system, the first terminal is a handle or a smart helmet held by the user, and the second terminal is an intelligent mechanical structure that can change its own posture according to the operation data.

[0036] In one example, the display data may include two parts, one part is panoramic data with low resolution, which can provide users with an overall visual framework of the VR environment. The other part is high-definition data of the target area, so that when the user interacts with the virtual environment through the first terminal, he can clearly see the operation details, ensuring the accuracy of the interaction.

[0037] In other examples, the controller 122 may be located outside the second terminal 120, such as a device independent of the second terminal 120. Exemplarily, the controller 122 may include at least one of a logic controller, a machine vision controller, a motion controller, and the like.

[0038] It should be understood that the above application scenario examples are only shown to facilitate understanding of the spirit and principle of the present application, and the embodiments of the present application are not limited thereto. On the contrary, the embodiments of the present application can be applied to any scenario that may be applicable.

[0039] Exemplary Methods

[0040] Figure 2 Shown is a flow chart of a data transmission method provided by an exemplary embodiment of the present application. Figure 2 The method may be specifically executed by a second terminal in the data transmission system.

[0041] like Figure 2 As shown, the data transmission method may include the following contents.

[0042] 210: Determine the panoramic image.

[0043] In some embodiments, the data transmission method is applied to a second terminal in a data transmission system, wherein the data transmission system includes a first terminal and a second terminal, and the first terminal and the second terminal communicate with each other. The first terminal is used to interact with the user, and the second terminal is used to collect images around itself, and determine environmental data based on the collected images, and send the environmental data to the first terminal, and the first terminal determines the display data based on the environmental data. The data transmission method is mainly applied to the stage of transmitting data from the second terminal to the first terminal. Therefore, the second terminal can first determine the images around itself.

[0044] Specifically, a preset resolution may be pre-stored in the second terminal, and thus the second terminal may determine the panoramic image according to the preset resolution.

[0045] In one example, the second terminal is provided with an image acquisition unit, and the second terminal acquires the panoramic image through the image acquisition unit.

[0046] 220: Determine a target area from a collection range corresponding to the panoramic image.

[0047] 230: Determine a high-definition image corresponding to the target area, wherein a resolution of the panoramic image is lower than a resolution of the high-definition image.

[0048] In some embodiments, if the environmental data only contains panoramic images with low resolution, insufficient operation accuracy may occur when performing tasks with higher precision. Therefore, the second terminal can also determine the target area from the acquisition range corresponding to the panoramic image, and determine the high-definition image corresponding to the target area, so as to facilitate the subsequent determination of the environmental data based on the panoramic image and the high-definition image corresponding to the target area.

[0049] In one example, the target area may be a preset area, for example, the area located at the center of the acquisition range is preset as the target area.

[0050] In one example, the acquisition range of the panoramic image is larger than the acquisition range of the second terminal when acquiring the high-definition image.

[0051] In one example, the resolution of the panoramic image and the high-definition image refers to the amount of information stored in the image, which is the number of pixels per inch in the image, or the pixel density.

[0052] In an example, the resolution of the panoramic image is lower than the resolution of the high-definition image of the target area.

[0053] In one example, the second terminal is provided with a first image acquisition unit and a second image acquisition unit, the first image acquisition unit is used to acquire a panoramic image, and the second image acquisition unit is used to acquire a high-definition image of a target area.

[0054] In one example, an image with a resolution higher than a target threshold is a high-definition image. The target threshold can be set according to actual needs.

[0055] 240: Determine environmental data for transmission to the first terminal according to the panoramic image and the high-definition image corresponding to the target area.

[0056] In some embodiments, the second terminal may directly use the panoramic image and the high-definition image corresponding to the target area as environmental data.

[0057] In one example, the second terminal may package the panoramic image and the high-definition image corresponding to the target area to generate a data packet, and use the generated data packet as the environmental data.

[0058] 250: Transmit the environment data to the first terminal, so that the first terminal determines the display data according to the environment data, wherein the first terminal is used to display the display data to the user.

[0059] In some embodiments, the second terminal may directly send the environmental data determined in step 240 to the first terminal.

[0060] The first terminal may receive the environment data sent by the second terminal, determine display data according to the environment data, and display the display data to the user, so that the user interacts with the first terminal according to the display data.

[0061] A data transmission method provided by an embodiment of the present application determines a panoramic image with a resolution lower than that of a high-definition image, and then determines a target area from the acquisition range corresponding to the panoramic image to determine a high-definition image corresponding to the target area, and then determines environmental data based on the panoramic image and the high-definition image corresponding to the target area, and finally sends the environmental data to a first terminal, so that the first terminal determines display data based on the environmental data and displays it to the user. In this way, the embodiment of the present application only needs to transmit the panoramic image and the high-definition image corresponding to the target area, so that the first terminal can construct display data with high definition of the target area and other areas being relatively blurred relative to the target area. The amount of data transmitted is smaller, and in the case of limited bandwidth, the time required is shorter, thereby improving data transmission efficiency. At the same time, when executing services with high real-time requirements, the risks involved will also be smaller.

[0062] In addition, since the data transmitted in the present application includes panoramic images, the purpose of allowing the first terminal to construct relatively complete display data based on the received panoramic image and high-definition image can be achieved by transmitting a panoramic image and a high-definition image. The amount of data transmitted is much smaller than the amount of data currently transmitted for multiple high-definition images. This also means that the frame rate at which the second terminal transmits the panoramic image and the high-definition image of the target area can be much lower than the frame rate currently transmitted for multiple high-definition images, thereby improving data transmission efficiency.

[0063] According to an embodiment of the present application, since the amount of data corresponding to the panoramic image may be large, the second terminal may also transmit a small-size panoramic image to the first terminal. Therefore, step S240 may also include: downsampling the panoramic image according to the first resolution, and determining the environmental data according to the downsampled panoramic image and the high-definition image corresponding to the target area.

[0064] In one example, after receiving the environmental data, the first terminal may perform an upsampling operation on the downsampled panoramic image included in the environmental data.

[0065] In one example, the upsampling operation may be an operation of processing the downsampled panoramic image based on an upsampling algorithm, and the upsampling algorithm uses an interpolation-based method, such as bilinear interpolation or bicubic interpolation, to increase the resolution of the image based on information of surrounding pixels. For example, the originally low-resolution panoramic image is processed through a bicubic interpolation algorithm to increase the number of pixels of the image while maintaining the image quality, so that it can be presented as a clear background image in a VR scene.

[0066] In this embodiment, the second terminal only transmits environmental data including the downsampled panoramic image and the high-definition image corresponding to the target area, so as to achieve the purpose of allowing the first terminal to construct relatively complete display data based on the environmental data. The amount of environmental data transmitted by the second terminal to the first terminal is smaller, and the bandwidth required is less, which further improves the data transmission efficiency.

[0067] According to an embodiment of the present application, after step 250, the data transmission method may further include: receiving operation data sent by the first terminal, the operation data being determined by the first terminal based on monitored user operations; and controlling the second terminal to adjust its posture based on the operation data.

[0068] In one example, in a VR scene, a user can interact with the first terminal by turning his head, operating a handle, etc. Therefore, the first terminal can monitor the user operation, generate operation data based on the monitored user operation, and send the operation data to the second terminal. After receiving the operation data, the second terminal can parse the operation data, extract information about position movement, posture adjustment, and action instructions, and control itself to adjust its posture based on the extracted information.

[0069] In one example, the user can turn his head to view the environment around the robot in different directions, and use the buttons on the handle to control the movement of the robot arm. The first terminal can integrate the head rotation information and the handle operation information into operation data and send it to the second terminal.

[0070] In one example, the second terminal is a dual-arm robot, and the operation data may include an arm joint angle adjustment instruction. Therefore, the second terminal can control the joint drive motors corresponding to each joint of itself according to the operation data, and accurately adjust the joint angle according to the arm joint angle adjustment instruction.

[0071] In one example, the operation data includes adjustment data for the posture of the second terminal. For example, the operation data requires the second terminal to move forward 0.5 meters and rotate 15 degrees to the left. The second terminal can calculate the motion parameters of each joint and chassis based on the operation data, and control the joints and chassis to adjust according to the motion parameters to smoothly complete the posture adjustment.

[0072] In one example, after completing the posture adjustment, the second terminal can immediately re-collect the panoramic image of the surrounding environment. Since the posture has changed, the new panoramic image will reflect the environmental information under different viewing angles. According to the re-determined panoramic image, the second terminal can re-execute steps 220-240.

[0073] In this embodiment, by timely receiving the operation data and accurately adjusting the posture, the second terminal can closely follow the user's intended actions in the VR scene, provide accurate interactive feedback, and ensure the accuracy and efficiency of the operation. At the same time, after adjusting the posture, the panoramic image is re-determined and the new environmental data is generated and transmitted back to the first terminal, ensuring the real-time and consistency of the environmental information in the VR scene, avoiding misjudgment caused by information lag, and ensuring the authenticity of VR.

[0074] According to an embodiment of the present application, the second terminal is a robot, and the data transmission method may further include: determining the posture data of the second terminal, and the step 240 may include: determining the environmental data based on the panoramic image, the high-definition image and the posture data.

[0075] Specifically, the second terminal can determine its own position data, and determine the environmental data based on the position data, the panoramic image and the high-definition image of the target area.

[0076] In one example, after receiving the operation data sent by the first terminal and completing the corresponding posture adjustment according to the operation data, the second terminal can determine its own posture data through its own sensor system.

[0077] In one example, taking the second terminal as an industrial robot, the industrial robot (second terminal) can accurately measure the current posture data through its own sensor system (such as joint encoder, inertial measurement unit, etc.) in the initial state or after receiving the operation data and completing the corresponding posture adjustment. For example, the joint encoder records the rotation angle of each joint, and the inertial measurement unit measures the acceleration and angular velocity of the robot body. After these data are fused and calculated, the precise position coordinates (x, y, z) and attitude angles (roll, pitch, yaw) of the robot in three-dimensional space are obtained as posture data.

[0078] In one example, a panoramic image provides a larger overview of the environment around the robot, while a high-definition image focuses on the details of the operating object or key areas.

[0079] In an example, the second terminal may package the data to be transmitted to the first terminal, generate a data packet of environmental data, and send the generated data packet to the first terminal.

[0080] In one example, the data packet includes a field for a panoramic image and a field for a high-definition image of the target area.

[0081] In one example, the second terminal may add a field for posture data in a data packet of environmental data so that the field is transmitted together with the image data.

[0082] In one example, the second terminal may determine relevant information such as image resolution, color mode, parameters of acquisition equipment, etc., and integrate the relevant information into the environmental data.

[0083] In this embodiment, by integrating posture data with panoramic images and high-definition images to determine environmental data, the first terminal can fully and accurately reconstruct the VR scene, thereby enhancing the execution efficiency of the VR service.

[0084] According to one embodiment of the present application, the three-dimensional model of the second terminal may be stored in the first terminal; step 250 may include: transmitting the environmental data to the first terminal, so that the first terminal determines the background data based on the panoramic image in the environmental data, and adds the high-definition image in the environmental data to the target area in the background data, and adds the three-dimensional model of the second terminal to the background data according to the posture data to obtain display data.

[0085] Specifically, the environmental data may include panoramic data, a high-definition image of the target area, and position data of the second terminal.

[0086] Therefore, after receiving the environmental data, the first terminal may first determine the background data according to the panoramic image in the environmental data.

[0087] Afterwards, the first terminal can add the high-definition image in the environmental data to the target area in the background data. For example, in a surgical simulation scene, the high-definition image of the surgical site is accurately placed at the corresponding surgical area position in the VR scene, so that the doctor can clearly see the details of the surgical site.

[0088] At the same time, the three-dimensional model of the second terminal is extracted from a pre-stored database, and according to the position and posture information in the posture data, the three-dimensional model is placed in the correct position in the VR scene and its posture is adjusted to match the posture data.

[0089] Finally, the first terminal may perform an integration operation on the background data to which the high-definition image and the three-dimensional model are added, and present the operation result to the user as presentation data.

[0090] In an example, the environmental data may include a downsampled panoramic image, and the first terminal may first upsample the downsampled panoramic image and determine the background data according to the upsampling result.

[0091] In one example, the background data can be used to reflect the general visual situation of the overall environment, which covers the spatial layout displayed by the panoramic image, the relative position relationship of objects in the environment, and the overall scene atmosphere.

[0092] In one example, the integration operation includes color correction, lighting effect adjustment, etc. to improve the visual quality and realism of the VR scene.

[0093] In one example, in a scenario where the second terminal is a surgical robot, the finally generated display data will be presented to the user (doctor) in a VR head-mounted display. The doctor can interact with the surgical robot and the surgical environment in the VR scene by turning his head, operating the handle, etc., view information from different angles, and issue operation instructions to achieve an immersive surgical simulation experience.

[0094] In this embodiment, the first terminal integrates background data, high-definition images and three-dimensional models to generate display data, so as to construct a highly realistic and information-rich VR scene. Taking medical training as an example, doctors can clearly see the surgical robot, the details of the patient's body parts and the precise relationship between the two in the surgical environment in VR, which effectively improves the training effect and the accuracy of surgical planning.

[0095] According to an embodiment of the present application, the data transmission method may also include: determining the target accuracy corresponding to the data transmission business; according to the target accuracy, determining the first resolution corresponding to the target accuracy, the second resolution corresponding to the target accuracy, and the regional range corresponding to the target accuracy from the correspondence between the business accuracy, the first resolution, the second resolution, and the regional range; using the first resolution corresponding to the target accuracy as the resolution of the panoramic image, the second resolution corresponding to the target accuracy as the resolution of the high-definition image, and the regional range corresponding to the target accuracy as the range of the target area.

[0096] Specifically, the second terminal may pre-store the correspondence between the service accuracy, the first resolution, the second resolution, and the area range. Therefore, the second terminal may determine the service accuracy of the service corresponding to the data transmission as the target accuracy, and determine the first resolution, the second resolution, and the area range corresponding to the target accuracy from the correspondence according to the target accuracy. Afterwards, the first resolution corresponding to the target accuracy is used as the resolution of the panoramic image, the second resolution corresponding to the target accuracy is used as the resolution of the high-definition image, and the area range corresponding to the target accuracy is used as the range of the target area.

[0097] In one example, the correspondence between the service accuracy, the first resolution, the second resolution, and the area range may be sent by the first terminal to the second terminal. How and when to determine the correspondence between the service accuracy, the first resolution, the second resolution, and the area range may be set as needed, and this specification does not limit this.

[0098] In one example, after determining the resolution of the panoramic image, the resolution of the high-definition image, and the range of the target area, the second terminal can determine the panoramic image based on the resolution of the panoramic image, and determine the high-definition image of the target area based on the resolution of the high-definition image and the range of the target area.

[0099] In one example, the business accuracy may be different preset types. For example, if there are three preset types, the business accuracy may be high accuracy, medium accuracy, and low accuracy.

[0100] In an example, the business accuracy may be a specific numerical value, such as 95, 50, 5, etc. Different numerical values ​​are used to represent different accuracy. The numerical value and the accuracy may be positively correlated or negatively correlated.

[0101] In one example, low-precision services are used to represent that the operator needs to understand the overall layout of the operating environment without high-precision details. Medium-precision services are used to represent that the operator needs to roughly adjust the position of a robot or tool. High-precision services are used to represent that the operator needs to perform precise operations, such as grabbing an object or fine-tuning. The operator is a user interacting with the first terminal.

[0102] In an example, the relationship among the business accuracy, the first resolution, the second resolution and the area range may be as shown in Table 1.

[0103] Table 1

[0104] Business accuracy First resolution (ppi) Secondary resolution (ppi) Regional scope Low precision 100 No local map required 0％ Medium precision 200 380 39％ High precision 300 496 47％

[0105] Table 1 uses pixel density ppi as an example of resolution. No local image requirement is used to characterize that the resolution of the high-definition image of the target area is consistent with that of the panoramic image, or in other words, the service can be performed without a high-definition image of the target area. The area range is used to characterize the proportion of the target area in the acquisition range corresponding to the panoramic image.

[0106] In one example, when the target accuracy is low, the second terminal may determine that it is not necessary to capture a high-definition image of the target area, and only needs to capture a panoramic image and transmit the panoramic image to the first terminal.

[0107] In one example, the service accuracy is proportional to the area range, that is, the lower the service accuracy, the smaller the area range, and the higher the service accuracy, the larger the area range.

[0108] In one example, taking a VR product assembly inspection system in industrial manufacturing as an example, if the product currently being assembled is a high-precision electronic component, then the target accuracy can be set to high accuracy. If it is the assembly of ordinary mechanical parts, it may be set to medium accuracy.

[0109] In one example, the second terminal can determine the field of view of the second terminal according to the posture data of the second terminal in the operation data sent by the first terminal, and use the center position of the field of view as the center position of the target area. Then, the target area is determined according to the range of the target area and the center position of the target area.

[0110] In one example, different service accuracies may also correspond to different frame rates, that is, when the second terminal transmits data to the first terminal, multiple panoramic images and multiple high-definition images may be transmitted within one minute.

[0111] In this embodiment, the image resolution and area range are determined according to the business accuracy, so that the data transmission system can flexibly adjust resource allocation according to different business scenarios, thereby improving the versatility and adaptability of the data transmission system and optimizing the overall performance.

[0112] In addition, although the resolution of the panoramic image in this application is lower than that of the high-definition image, as time goes by, the first terminal can receive panoramic images of different resolutions corresponding to different target accuracies. Therefore, the first terminal can also gradually refine the areas other than the target area in the displayed content according to the received panoramic images, further enhancing the user experience.

[0113] According to an embodiment of the present application, the data transmission method may further include: determining the target accuracy corresponding to the data transmission service; if the target accuracy is low accuracy, determining that the first resolution of the panoramic image and the second resolution of the high-definition image are both low resolutions; if the target accuracy is medium accuracy, determining that the first resolution of the panoramic image is low resolution, and the second resolution of the high-definition image is both medium resolution; if the target accuracy is high accuracy, determining that the first resolution of the panoramic image is medium resolution, and the second resolution of the high-definition image is both high resolution.

[0114] Specifically, preset rules are pre-stored in the second terminal, and the second terminal can determine the target accuracy of the service corresponding to the data transmission, and determine the first resolution of the panoramic image and the second resolution of the high-definition image according to the preset rules when the target accuracy is any one of low precision, high precision and medium precision.

[0115] If the target accuracy is low accuracy, the second terminal determines that the first resolution of the panoramic image and the second resolution of the high-definition image are both low resolutions according to a preset rule.

[0116] If the target accuracy is medium accuracy, the first resolution of the panoramic image is low resolution to provide an overall view of the warehouse environment, while the second resolution of the HD image is medium resolution. The medium resolution HD image will use a higher resolution and perform certain optimizations on the image quality, which can more clearly display the details of the target area (such as the key parts of the goods being handled or label information) so that the robot can perform the handling operation more accurately.

[0117] When the target accuracy is high, the first resolution of the panoramic image is medium resolution, providing the robot with relatively clear environmental background information, and the second resolution of the HD image is high resolution. The high-resolution HD image will use the highest resolution and lossless compression or high-quality image encoding algorithm to ensure that the details of the target area can be presented clearly and accurately, meeting the strict requirements of high-precision handling business on image quality.

[0118] In this embodiment, corresponding image resolution standards are set for low, medium and high target accuracies, which can effectively meet the differentiated image quality requirements of various businesses, ensure the smooth development and quality control of the business, and enhance the application scope and practicality of the data transmission system.

[0119] According to one embodiment of the present application, the data transmission method may also include: receiving operation data sent by the first terminal, and determining the operation accuracy corresponding to the operation data, and using the operation accuracy as the re-determined target accuracy; based on the re-determined target accuracy, re-determining the first resolution, second resolution and area range corresponding to the target accuracy.

[0120] Specifically, when the user interacts with the first terminal, different operations may correspond to different operation precisions. For example, when the user selects any one image from multiple images, the operation precision corresponding to the selection operation may be low. However, when the user wants to view a detail in an image and zooms in on it, the operation precision corresponding to the zooming in operation may be high.

[0121] Therefore, the second terminal can also determine the operation accuracy corresponding to the operation data after receiving the operation data, and use the operation accuracy as the re-determined target accuracy. The second terminal can also re-determine the first resolution, second resolution and area range corresponding to the target accuracy according to the re-determined target accuracy, so as to determine the panoramic image and the high-definition image of the target area according to the re-determined first resolution, second resolution and area range corresponding to the target accuracy.

[0122] In one example, if the second terminal determines that the user has performed an operation of approaching or moving away from the target object based on the operation data, the second terminal may also determine the operation accuracy corresponding to the operation data based on the operation data. If it is determined that the user has performed an approach operation based on the operation data, the second terminal may directly increase the target accuracy based on the target accuracy before receiving the operation data as the re-determined target accuracy. If it is determined that the user has performed a moving away operation based on the operation data, the second terminal may directly decrease the target accuracy based on the target accuracy before receiving the operation data as the re-determined target accuracy.

[0123] In one example, if the second terminal determines that the user has performed an operation of approaching or moving away from the target object based on the operation data, the second terminal may also determine the distance between the user and the target object based on the operation data, and determine the operation accuracy corresponding to the operation data based on the distance. The operation accuracy is inversely proportional to the distance between the user and the target object, that is, the closer the distance, the higher the operation accuracy, and the farther the distance, the lower the operation accuracy.

[0124] In this way, for each operation data sent by the first terminal, the second terminal can determine the corresponding operation accuracy based on the operation data received this time, and then adjust the first resolution corresponding to the panoramic image, the second resolution corresponding to the high-definition image, and the size of the area range based on the operation accuracy, so as to achieve the technical effect of dynamically adjusting the resolution of the high-definition image and the panoramic image, as well as the size of the high-definition image according to the operation accuracy of the operation data.

[0125] According to an embodiment of the present application, the data transmission service may include multiple service stages, and the service accuracy corresponding to each service stage in the multiple service stages may be the same or different. The data transmission method may also include: in response to the acquisition instruction, determining that the current service stage in the multiple service stages of data transmission is the first stage, and determining the service accuracy of the first stage as the target accuracy, determining the initial panoramic image according to the target accuracy, and sending the initial panoramic image to the first terminal. Step 210 may include: when receiving the transmission instruction sent by the first terminal, determining the current service stage as the second stage, and determining the service accuracy of the second stage as the target accuracy, and determining the panoramic image according to the target accuracy.

[0126] Specifically, the service performed by the data transmission system, that is, the data transmission service, may include multiple service stages. Each service stage in the multiple service stages corresponds to a different service accuracy. Taking the aforementioned service including the first stage and the second stage as an example, in the first stage, the second terminal may send a panoramic image to the first terminal, and in the second stage, the second terminal may send environmental data to the first terminal.

[0127] Therefore, in response to the acquisition instruction, the second terminal may determine that the current business stage is the first stage according to the acquisition instruction. Therefore, the acquisition instruction may determine the business accuracy of the first stage as the target accuracy. Afterwards, according to the target accuracy, the second terminal may determine the first resolution corresponding to the target accuracy, and determine the initial panoramic image according to the first resolution. The initial panoramic image is used to show the user the approximate content contained in the scene.

[0128] Afterwards, the second terminal may send the initial panoramic image to the first terminal.

[0129] The first terminal can receive the initial panoramic image, and generate initial display data based on the initial panoramic image to display to the user, and at the same time, monitor the operation performed by the user based on the initial display data as the user operation.

[0130] Then, the first terminal may send a transmission instruction to the second terminal when determining, according to the user operation, that the user has performed a designated operation.

[0131] The second terminal may receive the transmission instruction, and according to the transmission instruction, determine the current service stage as the second stage, and determine the service accuracy of the second stage as the re-determined target accuracy. Then, according to the re-determined target accuracy, the second terminal may determine the panoramic image, and further determine the environmental data according to the panoramic image.

[0132] In this embodiment, different business accuracies are set for different business stages to determine panoramic images with different accuracies, and different data are transmitted at different stages. This not only meets the needs of different business stages, but also ensures business execution efficiency.

[0133] Figure 3 Shown is a flow chart of a data transmission method provided by another exemplary embodiment of the present application. Figure 3 The embodiment is Figure 2 For the example of the embodiment, in order to avoid repetition, the same points can be referred to the description in the above embodiment, which will not be repeated here. Figure 3 As shown, the data transmission method may include the following contents.

[0134] 310: Send the panoramic image.

[0135] 320: Receive a transmission instruction, determine a panoramic image, and downsample the panoramic image.

[0136] 330: Determine a target area and determine a high-definition image of the target area.

[0137] 340: Determine environmental data based on the downsampled panoramic image and the high-definition image of the target area.

[0138] 350: Transmit environmental data.

[0139] 360: Receive operation data.

[0140] 370: Adjust the posture according to the operation data and redetermine the panoramic image, and redetermine the environmental data according to the posture data after the adjusted posture and the redetermined panoramic image.

[0141] Specifically, in step 370, after the panoramic image is re-determined, the re-determined panoramic image may be down-sampled, the target area may be determined from the down-sampled panoramic image, and a high-definition image corresponding to the target area may be determined. The environmental data may be re-determined based on the down-sampled panoramic image, the high-definition image, and the position and posture data.

[0142] The execution order of the above steps 310-370 can be adjusted as needed. And the above steps 310-370 can refer to the description of steps 210-240 in this specification, and this specification will not repeat them. The data transmission method provided in the embodiment of the present application can realize the control of the mobile device to move to the target posture.

[0143] Based on the same inventive concept, the present application also provides Figure 4 The data transmission method shown.

[0144] Figure 4 Shown is a flow chart of a data transmission method provided by an exemplary embodiment of the present application. Figure 4 The method can be specifically executed by a first terminal in a data transmission system.

[0145] like Figure 4 As shown, the data transmission method may include the following contents.

[0146] 410: Receive environmental data sent by the second terminal, wherein the environmental data is determined based on the panoramic image and the high-definition image corresponding to the target area, the target area is determined from the acquisition range corresponding to the panoramic image, and the resolution of the panoramic image is lower than the resolution of the high-definition image.

[0147] 420: Determine display data according to the environment data, and display data is used to display to the user.

[0148] In one or more embodiments provided in the present application, for the description of the first terminal, please refer to the description of the first terminal in the above steps 210-250 and 310-370, and the present application will not repeat them here.

[0149] Exemplary Devices

[0150] Figure 5 FIG. 5 is a schematic diagram of the structure of a data transmission device 500 provided by an exemplary embodiment of the present application. Figure 5 As shown, the data transmission device is applied to the second terminal in the data transmission system, the system includes a first terminal and a second terminal, and the data transmission device 500 includes: a first determination module 510, a second determination module 520, a third determination module 530, an environmental data determination module 540 and a transmission module 550.

[0151] The first determination module 510 is used to determine the panoramic image; the second determination module 520 is used to determine the target area from the acquisition range corresponding to the panoramic image; the third determination module 530 is used to determine the high-definition image corresponding to the target area, wherein the resolution of the panoramic image is lower than the resolution of the high-definition image; the environmental data determination module 540 is used to determine the environmental data for transmission to the first terminal based on the panoramic image and the high-definition image corresponding to the target area; the transmission module 550 is used to transmit the environmental data to the first terminal so that the first terminal determines the display data based on the environmental data, wherein the first terminal is used to display the display data to the user.

[0152] According to an embodiment of the present application, the environmental data determination module 540 is used to: downsample the panoramic image according to the first resolution; and determine the environmental data according to the downsampled panoramic image and the high-definition image corresponding to the target area.

[0153] According to an embodiment of the present application, the data transmission device also includes: an adjustment module 560, which is used to: receive operation data sent by the first terminal, the operation data is determined by the first terminal based on the monitored user operation; and control the second terminal to adjust its posture based on the operation data.

[0154] According to an embodiment of the present application, the second terminal is a robot; the environment data determination module 540 is used to: determine the posture data of the second terminal; and determine the environment data based on the panoramic image, the high-definition image and the posture data.

[0155] According to one embodiment of the present application, the three-dimensional model of the second terminal is stored in the first terminal; the transmission module 550 is used to transmit the environmental data to the first terminal, so that the first terminal determines the background data based on the panoramic image in the environmental data, and adds the high-definition image in the environmental data to the target area in the background data, and adds the three-dimensional model of the second terminal to the background data according to the posture data to obtain display data.

[0156] According to an embodiment of the present application, the first determination module 510 is also used to: determine the target accuracy corresponding to the data transmission service; determine the first resolution corresponding to the target accuracy, the second resolution corresponding to the target accuracy, and the regional range corresponding to the target accuracy from the correspondence between the service accuracy, the first resolution, the second resolution, and the regional range according to the target accuracy; use the first resolution corresponding to the target accuracy as the resolution of the panoramic image, the second resolution corresponding to the target accuracy as the resolution of the high-definition image, and the regional range corresponding to the target accuracy as the range of the target area.

[0157] According to one embodiment of the present application, the first determination module 510 is also used to: receive operation data sent by the first terminal, and determine the operation accuracy corresponding to the operation data, and use the operation accuracy as the re-determined target accuracy; based on the re-determined target accuracy, re-determine the first resolution, second resolution and area range corresponding to the target accuracy.

[0158] According to an embodiment of the present application, the data transmission service includes multiple service stages, and the service accuracy corresponding to each service stage in the multiple service stages may be the same or different; the first determination module 510 is also used to: in response to the acquisition instruction, determine that the current service stage in the multiple service stages of data transmission is the first stage, and determine the service accuracy of the first stage as the target accuracy, determine the initial panoramic image according to the target accuracy, and send the initial panoramic image to the first terminal. The first determination module 510 is used to: when receiving the transmission instruction sent by the first terminal, determine the current service stage as the second stage, and determine the service accuracy of the second stage as the target accuracy, and determine the panoramic image according to the target accuracy.

[0159] Based on the same idea, this specification provides a structural diagram of a data transmission device, such as Figure 6 shown.

[0160] Figure 6 FIG. 6 is a schematic diagram of the structure of a data transmission device 600 provided by an exemplary embodiment of the present application. Figure 6 As shown, the data transmission device is applied to the first terminal in the data transmission system. The system includes the first terminal and the second terminal. The data transmission device 600 includes: a receiving module 610 and a display module 620.

[0161] The receiving module 610 is used to receive environmental data sent by the second terminal, wherein the environmental data is determined based on the panoramic image and the high-definition image corresponding to the target area, the target area is determined from the acquisition range corresponding to the panoramic image, and the resolution of the panoramic image is lower than the resolution of the high-definition image; the display module 620 is used to determine display data based on the environmental data, and the display data is used to be displayed to the user.

[0162] The embodiment of the present application also provides a data transmission system, which includes a first terminal and a second terminal, wherein the second terminal is used to: determine a panoramic image; determine a target area from the acquisition range corresponding to the panoramic image; determine a high-definition image corresponding to the target area, wherein the resolution of the panoramic image is lower than the resolution of the high-definition image; determine environmental data for transmission to the first terminal based on the panoramic image and the high-definition image; and transmit the environmental data to the first terminal. The first terminal is used to: receive environmental data sent by the second terminal; determine display data based on the environmental data, and the display data is used to display to the user.

[0163] The operation and functions of the data transmission system provided in the embodiment of the present application can refer to the above Figures 2 to 4 The description of the data transmission method provided in any of the embodiments will not be repeated here to avoid repetition.

[0164] Figure 7 The block diagram of an electronic device 700 for executing a data transmission method provided by an exemplary embodiment of the present application is shown. The electronic device 700 may be a mobile device, a control device of a mobile device, a server interacting with a mobile device, or other devices.

[0165] Reference Figure 7 , the electronic device 700 includes a processing component 710, which further includes one or more processors, and a memory resource represented by a memory 720 for storing instructions executable by the processing component 710, such as an application. The application stored in the memory 720 may include one or more modules, each corresponding to a set of instructions. In addition, the processing component 710 is configured to execute instructions to perform the above-mentioned data transmission method.

[0166] The electronic device 700 may also include a power supply component configured to perform power management of the electronic device 700, a wired or wireless network interface configured to connect the electronic device 700 to a network, and an input / output (I / O) interface. The electronic device 700 may be operated based on an operating system stored in the memory 720, such as Windows Server 2000. TM , Mac OSX TM , Unix TM , Linux TM , FreeBSD TM or similar.

[0167] A non-temporary computer-readable storage medium, when instructions in the storage medium are executed by a processor of the electronic device 800, enables the electronic device 800 to execute a data transmission method.

[0168] A computer program product includes a computer program. When the computer program is executed by a processor of a computer device, the computer device is enabled to execute the data transmission method of any of the above embodiments.

[0169] All the above optional technical solutions can be arbitrarily combined to form optional embodiments of the present application, and will not be described one by one here.

[0170] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0171] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0172] In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0173] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0174] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0175] If the function is implemented in the form of 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 the present application, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the various embodiments of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, and other media that can store program check codes.

[0176] It should be noted that, in the description of this application, the terms "first", "second", "third", etc. are used for descriptive purposes only and cannot be understood as indicating or implying relative importance. In addition, in the description of this application, unless otherwise specified, the meaning of "plurality" is two or more.

[0177] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with the relevant laws, regulations and standards of the relevant countries and regions, and provide corresponding operation entrances for users to choose to authorize or refuse.

[0178] The above are only preferred embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent substitutions, etc. made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. A data transmission method, characterized in that: The data transmission method is applied to a second terminal in a data transmission system, the data transmission system includes a first terminal and the second terminal, and the data transmission method includes: determining a panoramic image; Determining a target area from a collection range corresponding to the panoramic image; Determining a high-definition image corresponding to the target area, wherein a resolution of the panoramic image is lower than a resolution of the high-definition image; Determining, according to the panoramic image and the high-definition image, environmental data for transmission to the first terminal; The environment data is transmitted to the first terminal, so that the first terminal determines display data according to the environment data, wherein the first terminal is used to display the display data to a user.

2. The data transmission method according to claim 1, characterized in that: Also includes: receiving operation data sent by the first terminal, where the operation data is determined by the first terminal according to a monitored user operation; According to the operation data, the second terminal is controlled to adjust its posture.

3. The data transmission method according to claim 1, characterized in that: The second terminal is a robot, and the data transmission method further includes: determining the position and posture data of the second terminal, The step of determining, according to the panoramic image and the high-definition image, environmental data for transmission to the first terminal includes: The environmental data is determined according to the panoramic image, the high-definition image and the position and posture data.

4. The data transmission method according to claim 3, characterized in that: The three-dimensional model of the second terminal is stored in the first terminal; The transmitting the environment data to the first terminal so that the first terminal determines the display data according to the environment data includes: The environmental data is transmitted to the first terminal so that the first terminal determines the background data according to the panoramic image in the environmental data, adds the high-definition image in the environmental data to the target area in the background data, and adds the three-dimensional model of the second terminal to the background data according to the posture data to obtain the display data.

5. The data transmission method according to claim 1, characterized in that: Also includes: Determine the target accuracy of the data transmission service; According to the target accuracy, determining the first resolution corresponding to the target accuracy, the second resolution corresponding to the target accuracy, and the regional range corresponding to the target accuracy from the correspondence between the business accuracy, the first resolution, the second resolution, and the regional range; The first resolution corresponding to the target accuracy is used as the resolution of the panoramic image, the second resolution corresponding to the target accuracy is used as the resolution of the high-definition image, and the area range corresponding to the target accuracy is used as the range of the target area.

6. The data transmission method according to claim 5, characterized in that: Also includes: receiving operation data sent by the first terminal, and determining operation accuracy corresponding to the operation data, and using the operation accuracy as the re-determined target accuracy; According to the re-determined target accuracy, the first resolution, the second resolution and the area range corresponding to the target accuracy are re-determined.

7. The data transmission method according to claim 1, characterized in that: Also includes: In response to the acquisition instruction, determining that a current business stage among multiple business stages of data transmission is a first stage, determining a business accuracy of the first stage as a target accuracy, determining an initial panoramic image according to the target accuracy, and sending the initial panoramic image to the first terminal; The determining of the panoramic image comprises: When receiving the transmission instruction sent by the first terminal, the current service stage is determined to be the second stage, and the service accuracy of the second stage is determined as the target accuracy, and the panoramic image is determined according to the target accuracy.

8. The data transmission method according to any one of claims 1 to 7, characterized in that: The determining, according to the panoramic image and the high-definition image, environmental data for transmission to the first terminal includes: Downsampling the panoramic image according to a first resolution; The environmental data is determined according to the downsampled panoramic image and the high-definition image.

9. A data transmission method, characterized in that: The data transmission method is applied to a first terminal in a data transmission system, the data transmission system includes the first terminal and a second terminal, and the data transmission method includes: receiving environmental data sent by the second terminal, wherein the environmental data is determined based on a panoramic image and a high-definition image corresponding to a target area, the target area is determined from a collection range corresponding to the panoramic image, and a resolution of the panoramic image is lower than a resolution of the high-definition image; Display data is determined according to the environment data, and the display data is used to be displayed to the user.

10. A data transmission system, characterized in that: comprising a first terminal and a second terminal, wherein: The second terminal is used to: determine a panoramic image; determine a target area from a collection range corresponding to the panoramic image; determine a high-definition image corresponding to the target area, wherein a resolution of the panoramic image is lower than a resolution of the high-definition image; determine environmental data for transmission to the first terminal based on the panoramic image and the high-definition image; and transmit the environmental data to the first terminal; The first terminal is used to: receive environmental data sent by the second terminal; determine display data according to the environmental data, and the display data is used to display to the user.

11. An electronic device, characterized in that: include: processor; a memory for storing instructions executable by the processor, The processor is used to execute the data transmission method described in any one of claims 1 to 9.

12. A computer-readable storage medium, characterized in that: The storage medium stores a computer program, and the computer program is used to execute the data transmission method according to any one of claims 1 to 9.

13. A computer program product, characterized in that The computer program product includes a computer program, and when the computer program is executed by a processor of a computer device, the computer device is enabled to execute the data transmission method according to any one of claims 1 to 9.

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