Data transmission method based on code rate value, mobile equipment and storage medium

Abstract

The present application relates to the field of wireless communications, and provides a data transmission method based on a code rate value, a mobile device and a storage medium, the method comprising: acquiring a first code rate value sent by a data receiving end, the first code rate value being sent by the data receiving end at a first moment and being received by a self-moving device at a second moment, the interval time between the first moment and the second moment is T; acquiring map data of the self-moving equipment within a time interval T; determining a target code rate value according to the first code rate value and the map data; and mapping the target code rate value and the map data to obtain a mapping relationship, and performing data transmission according to the mapping relationship. By establishing the mapping relation between the target code rate value and the map data and taking the mapping relation as the basis of data transmission, the fluency and the image quality are both considered, and the watching experience when a user receives the data information is improved.

Description

Technical Field

[0001] This application relates to the field of wireless communication, and in particular, to a data transmission method, a mobile device, and a storage medium based on a code rate value. Background Art

[0002] In order to enable users to understand the working conditions of a mobile robot anytime and anywhere, the robot can capture the surrounding environment through a camera mounted on itself and feedback the captured video information to the user. The smoothness of the video information mainly depends on the network conditions at the location where the robot is located. If the network conditions are poor, the video information fed back to the user is prone to freezing, affecting the viewing experience. Therefore, how to improve the smoothness and video quality of the video information sent by the mobile robot has become an urgent problem to be solved. Summary of the Invention

[0003] The main purpose of this application is to provide a data transmission method, a mobile device, and a storage medium based on a code rate value, aiming to improve the flexibility of data transmission from the mobile device.

[0004] In a first aspect, this application provides a data transmission method based on a code rate value. The data transmission method based on a code rate value includes the following steps:

[0005] Obtain a first code rate value sent by a data receiving end. The first code rate value is sent by the data receiving end at a first moment and received by the mobile device at a second moment. The time interval between the first moment and the second moment is T;

[0006] Obtain the map data of the mobile device within the time interval T;

[0007] Determine a target code rate value according to the first code rate value and the map data;

[0008] Map the target code rate value and the map data to obtain a mapping relationship, and perform data transmission according to the mapping relationship.

[0009] In a second aspect, this application also provides a mobile device. The mobile device includes a processor, a cache module, a storage module, and a computer program stored on the storage module and executable by the processor. When the computer program is executed by the processor, the steps of the data transmission method based on a code rate value according to any one of the embodiments of this application are implemented.

[0010] In a third aspect, this application also provides a computer-readable storage medium. A computer program is stored on the computer-readable storage medium. When the computer program is executed by a processor, the data transmission method based on a code rate value as described above is implemented.

[0011] The present application provides a data transmission method, a mobile device, and a storage medium based on a bitrate value. By obtaining a first bitrate value sent by a data receiving end, the first bitrate value is sent by the data receiving end at a first moment and received by the self-mobile device at a second moment, and the time interval between the first moment and the second moment is T; obtaining map data of the self-mobile device within the time interval T; determining a target bitrate value according to the first bitrate value and the map data; mapping the target bitrate value and the map data to obtain a mapping relationship, and performing data transmission according to the mapping relationship. By establishing a mapping relationship between the target bitrate value and the map data and using this mapping relationship as the basis for data transmission, the flexibility of data transmission is improved, the smoothness of data transmission is ensured at locations with poor network conditions, the quality of data transmission is improved at locations with good network conditions, both smoothness and picture quality are taken into account, and the viewing experience of users when receiving data information is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for the description of the embodiments will be briefly introduced below. Obviously, the drawings in the following description are some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0013] Figure 1 It is a flowchart of a data transmission method based on a bitrate value provided by an embodiment of the present application;

[0014] Figure 2 It is a schematic diagram of a scenario where a self-mobile device performs data transmission provided by an embodiment of the present application;

[0015] Figure 3 It is a flowchart of a data transmission method based on a bitrate value provided by an embodiment of the present application;

[0016] Figure 4 It is a schematic block diagram of the structure of a mobile device related to an embodiment of the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0017] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are some, but not all, of the embodiments of the present application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present application without creative efforts shall fall within the protection scope of the present application.

[0018] The flowcharts shown in the accompanying drawings are merely illustrative examples, not necessarily including all content and operations / steps, nor necessarily executed in the described order. For example, some operations / steps can be decomposed, combined, or partially merged, so the actual execution order may change according to the actual situation.

[0019] An embodiment of the present application provides a data transmission method, a mobile device, and a storage medium based on a bit rate value.

[0020] The following will describe in detail some embodiments of the present application with reference to the accompanying drawings. Without conflict, the embodiments described below and the features in the embodiments can be combined with each other.

[0021] Please refer to Figure 1 , Figure 1 , which is a schematic flowchart of a data transmission method based on a bit rate value provided for an embodiment of the present application. This data transmission method based on a bit rate value can be used in a terminal or a server to determine the mapping relationship between a target bit rate value and map data, so as to perform data transmission according to this mapping relationship. Among them, the terminal can be a self-mobile device, such as a lawn mowing robot, a cleaning robot, etc., or an electronic device such as a mobile phone, a tablet computer, a laptop computer, a desktop computer, a personal digital assistant, and a wearable device; the server can be an independent server, a server cluster, or a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, Content Delivery Network (CDN), and big data and artificial intelligence platforms.

[0022] As Figure 1 shown, this data transmission method based on a bit rate value includes steps S101 to S104.

[0023] Step S101: Obtain a first bit rate value sent by a data receiving end. The first bit rate value is sent by the data receiving end at a first moment and received by the self-mobile device at a second moment. The time interval between the first moment and the second moment is T.

[0024] Please refer to Figure 2 , Figure 2 , which is a schematic diagram of a scenario for a self-mobile device to perform data transmission provided for an embodiment of the present application.

[0025] As Figure 2As shown, the data receiving end can be a server, such as the server of a streaming media service provided by a third-party service provider. The self-mobile device can send video information to the server through wireless communication technology, so that the server can present the video information on the application program of the display device used by the user, such as mobile phones, TVs, computers, etc. Of course, it is not limited to this. The data receiving end can also be a terminal device, and the self-mobile device directly sends the video information to the terminal device used by the user, which is not limited here.

[0026] Exemplarily, when the self-mobile device sends data information, if the network condition at the location where it is located is poor and the bit rate of the data information is high, it may cause the data information received by the user to freeze. On the contrary, if the network condition at the location where the self-mobile device is located is good and the bit rate of the data information is low, it will result in poor picture quality of the data information received by the user, affecting the viewing experience.

[0027] Exemplarily, since the network conditions at different positions in the environment where the self-mobile device is located are different, in order to balance the picture quality and smoothness of the video information received by the user, the self-mobile device can adjust the bit rate of data transmission based on the network conditions at different positions. Among them, the environment where the self-mobile device is located can be a space with a certain area such as a courtyard, a square, a park, etc. Specifically, the data receiving end can calculate the optimal bit rate value for data transmission under the network condition of the location where the self-mobile device is located and return the optimal bit rate value to the self-mobile device, so that the self-mobile device can perform data transmission according to the optimal bit rate value.

[0028] However, regardless of whether the data receiving end is a server or a terminal device, there will be a certain delay between the self-mobile device and the data receiving end. Therefore, there is a certain lag in the optimal bit rate value received by the self-mobile device. It can be understood that the optimal bit rate value received by the self-mobile device from the data receiving end is actually the optimal bit rate value a certain period of time ago. And the self-mobile device needs to move to perform operations, resulting in the bit rate value received by the self-mobile device not corresponding to the current location, but corresponding to the location a certain period of time ago.

[0029] To solve this problem and improve the flexibility of data transmission, the data transmission method based on the bit rate value provided by the embodiments of the present application controls the self-mobile device to continuously obtain the first bit rate value sent by the data receiving end during the movement process, so as to establish a mapping relationship between the location of the self-mobile robot and the bit rate value based on the received first bit rate value and the time interval existing with the data receiving end, and use it as the basis for the self-mobile robot to perform data transmission.

[0030] Among them, the first bitrate value is the optimal bitrate value determined by the data receiving end according to the network condition of the location where the self-mobile device is located. If the network condition where the self-mobile device is located is good, the first bitrate value is relatively high; on the contrary, if the network condition where the self-mobile device is located is poor, the first bitrate value is relatively low. It can be understood that the first bitrate value received by the self-mobile device at the second moment is actually the first bitrate value sent by the data receiving end at the first moment, that is, the first bitrate value at the location where the self-mobile device is located at the first moment.

[0031] In some embodiments, before obtaining the first bitrate value sent by the data receiving end, the method further includes:

[0032] Obtain the delay information sent by the data receiving end, and determine the time interval according to the delay information.

[0033] Exemplarily, in order to determine the time interval between the first moment when the data receiving end sends data and the second moment when the self-mobile device receives data, the data receiving end needs to send delay information for indicating the time interval to the self-mobile device.

[0034] Specifically, the delay information may include, for example, the sending time when the data receiving end sends the delay information. The self-mobile device can calculate the time interval between the receiving time of the received delay information and the sending time in the delay information, so as to avoid the need to calculate the time interval T every time the self-mobile device receives the first bitrate value subsequently.

[0035] Exemplarily, the self-mobile device can obtain the delay information of the data receiving end at regular time intervals, so as to update the time interval and ensure the accuracy of the time interval. Alternatively, the self-mobile device can obtain multiple pieces of delay information each time, calculate multiple delay durations, and then use the average value of the multiple delay durations as the time interval.

[0036] Exemplarily, clock synchronization can be achieved between the self-mobile device and the data receiving end through a preset communication protocol, such as the Network Time Protocol (NTP for short), the Precision Time Protocol (PTP for short), etc., which is not limited herein.

[0037] Step S102: Obtain the map data of the self-mobile device within the time interval T.

[0038] Exemplarily, in order to associate the first bitrate value received in step S101 with the location in the environment where the self-mobile device is located, it is also necessary to obtain the map data of the self-mobile device within the time interval T. It can be understood that the map data within the time interval T includes the location where the self-mobile device is located at the first moment.

[0039] In some embodiments, the self - moving device includes a cache module and a storage module. Obtaining the map data of the moving device within a time interval T includes:

[0040] Controlling the cache module to obtain the map data stored in the storage module according to the time interval T.

[0041] Exemplarily, the self - moving device includes a cache module and a storage module. The data recently accessed by the self - moving device can be stored in the cache module, such as the received first bitrate value; the data with a lower access frequency or a larger volume can be stored in the storage module, such as the complete environmental map.

[0042] When the self - moving device obtains the first bitrate value, it is necessary to associate the first bitrate value with the position where the self - moving device is located at the first moment in the environmental map. Therefore, it is necessary to load the relevant environmental map into the cache module. Since the complete environmental map usually has a large volume, only the map data within the time interval T between the first moment and the second moment in the environmental map can be loaded into the cache module, thereby improving the access efficiency of the map data.

[0043] Step S103: Determine the target bitrate value according to the first bitrate value and the map data.

[0044] Exemplarily, the self - moving device stores the first bitrate value sent by the data receiving end corresponding to the position in the map data. Since the self - moving device may pass through the same position multiple times during operation, the self - moving device may update the existing bitrate value based on the first bitrate value to obtain the target bitrate value; or, it is also possible that the self - moving device passes through a certain position for the first time, and directly uses the first bitrate value as the target bitrate value for that position. Therefore, it is necessary to determine the target bitrate value based on whether there is a corresponding bitrate value in the map data according to the received first bitrate value.

[0045] In some embodiments, the map data includes position information and a bitrate value corresponding to the position information; determining the target bitrate value according to the first bitrate value and the map data includes:

[0046] Determine the target bitrate value according to the first bitrate value and the second bitrate value in the map data, where the second bitrate value is the bitrate value corresponding to the position information of the self - moving device at the first moment in the map data.

[0047] Exemplarily, since the first bitrate value received by the self-mobile device at the second moment is actually the bitrate value at the position where the self-mobile robot was located at the first moment, it is necessary to obtain the bitrate value corresponding to the position information of the self-mobile device in the map data at the first moment, that is, the second bitrate value.

[0048] Among them, the second bitrate value may be valid information, that is, the bitrate value sent by the data receiver at a certain past moment; it may also be invalid information, that is, blank information or a default value.

[0049] In some embodiments, determining the target bitrate value according to the first bitrate value and the second bitrate value in the map data includes:

[0050] When the second bitrate value is valid information, calculate the target bitrate value based on the preset median algorithm according to the first bitrate value and the second bitrate value.

[0051] Exemplarily, if the second bitrate value is valid information, indicating that there is already a corresponding second bitrate value for the position information of the self-mobile device in the map data at the first moment, then combine the second bitrate value with the first bitrate value to determine the target bitrate value, avoiding a large change in the bitrate of the data information at the same position, resulting in a sharp change in the bitrate of the same picture seen by the user twice and affecting the user's viewing experience.

[0052] Among them, the median algorithm can be an average value algorithm, taking the average value of the first bitrate value and the second bitrate value as the target bitrate value, or different weights can be assigned to the first bitrate value and the second bitrate value respectively to calculate the target bitrate value.

[0053] In some embodiments, determining the target bitrate value according to the first bitrate value and the second bitrate value in the map data further includes:

[0054] When the second bitrate value belongs to invalid information, determine the first bitrate value as the target bitrate value.

[0055] Exemplarily, if the second bitrate value belongs to invalid information, indicating that there is no corresponding second bitrate value for this position in the map data yet, for example, the self-mobile device may be moving to this position for the first time, then directly take the first bitrate value as the target bitrate value for this position.

[0056] Step S104, map the target bitrate value and the map data to obtain a mapping relationship, and perform data transmission according to the mapping relationship.

[0057] Exemplarily, a mapping relationship is obtained by mapping the target bitrate value to the map data. For example, the target bitrate value is stored corresponding to the position in the map data to obtain map data including the target bitrate value, so that the subsequent self-mobile device can refer to the map data including the target bitrate value for data transmission, thereby enabling the bitrate of data transmission by the self-mobile robot to adapt to the network conditions at each position in the environment, achieving a balance between the smoothness and image quality of the data transmission by the self-mobile robot, and improving the viewing experience of the user when receiving data information.

[0058] In some embodiments, the obtaining the mapping relationship by mapping the target bitrate value to the map data includes:

[0059] Mapping the target bitrate value to the target position information in the map data, where the target position information is the position information of the self-mobile device at the first moment.

[0060] Exemplarily, due to the delay between the data receiving end and the self-mobile device, the first bitrate value received by the self-mobile device at the second moment is actually the first bitrate value corresponding to the position where the self-mobile device is located at the first moment. And it can be understood that since the map data obtained in step S102 is the map data within the time interval T, the position where the self-mobile robot is located at the first moment is within the map data. Therefore, the target bitrate information determined according to the first bitrate information is associated with the position information of the self-mobile device at the first moment.

[0061] In some embodiments, the obtaining the mapping relationship by mapping the target bitrate value to the map data includes:

[0062] Controlling the cache module to send the mapping relationship between the target bitrate value and the map data to the storage module for storage.

[0063] Exemplarily, the position of the self-mobile device changes continuously during movement. Since the map data cached in the cache module needs to correspond to the position of the self-mobile device, the map data in the cache module also needs to be updated continuously. And the capacity of the cache module is small. In order to persistently store the mapping relationship between the target bitrate value and the map data, the cache module can be controlled to send the determined mapping relationship to the storage module for storage.

[0064] Among them, the storage module can be, for example, a NAND flash memory (NAND Flash), and the cache module can be, for example, a static random access memory (Static Random Access Memory, abbreviated as SRAM) or a dynamic random access memory (Dynamic Random Access Memory, abbreviated as DRAM). Of course, it is not limited thereto and will not be limited herein.

[0065] Please refer to Figure 3 , Figure 3 which is a schematic flowchart of a data transmission method based on a code rate value provided by an embodiment of the present application.

[0066] As Figure 3 shown, the cache module of the mobile device determines the size of the time interval T according to the experimental information sent by the data receiving end, then obtains the map data within the time interval T from the storage module, and obtains the first code rate value sent by the data receiving end at the first moment. The target code rate value is determined according to the first code rate value, and the preset relationship obtained by mapping the first code rate value and the map data is stored in the storage module.

[0067] In some embodiments, the data transmission according to the mapping relationship includes:

[0068] Determining the current code rate value corresponding to the current position of the mobile device according to the mapping relationship;

[0069] Sending the video stream data captured by the mobile device to the data receiving end based on the previous code rate value.

[0070] Exemplarily, during the process of the mobile device moving to perform operations, according to the current position where it is located, the current code rate value corresponding to the current position is determined based on the mapping relationship between the map data and the target code rate value. Then, the video stream data is sent to the data receiving end based on the current code rate value, and the current code rate value of the video stream is automatically adjusted during the movement, so that the code rate value for data transmission of the mobile device adapts to the network condition of the location where it is located, avoiding picture jamming caused by too high a code rate and poor image quality caused by too low a code rate, and improving the flexibility of data transmission of the mobile device.

[0071] The data transmission method based on the bitrate value provided by this application obtains the first bitrate value sent by the data receiving end. The first bitrate value is sent by the data receiving end at the first moment and received by the self-mobile device at the second moment. The time interval between the first moment and the second moment is T. Obtain the map data of the self-mobile device within the time interval T. Determine the target bitrate value according to the first bitrate value and the map data. Map the target bitrate value and the map data to obtain a mapping relationship, and perform data transmission according to the mapping relationship. By establishing the mapping relationship between the target bitrate value and the map data and using this mapping relationship as the basis for data transmission, the flexibility of data transmission is improved, the smoothness of data transmission is ensured in locations with poor network conditions, and the quality of data transmission is improved in locations with good network conditions, taking into account both smoothness and picture quality, and improving the viewing experience of users when receiving data information.

[0072] Exemplarily, the above method can be implemented in the form of a computer program, and this computer program can run on a mobile device as shown in Figure 4 .

[0073] Please refer to Figure 4 . Figure 4 It is a schematic block diagram of the structure of a mobile device provided by an embodiment of this application. This mobile device can be a lawn mowing robot, a cleaning robot, etc.

[0074] As shown in Figure 4 , this mobile device includes a processor, a memory, and a network interface connected through a system bus. Among them, the memory can include a storage medium and an internal memory.

[0075] The storage medium can store an operating system and a computer program. This computer program includes program instructions. When the program instructions are executed, the processor can execute any data transmission method based on the bitrate value.

[0076] The processor is used to provide computing and control capabilities to support the operation of the entire mobile device.

[0077] The internal memory provides an environment for the operation of the computer program in the storage medium. When this computer program is executed by the processor, the processor can execute any data transmission method based on the bitrate value.

[0078] This network interface is used for network communication, such as sending assigned tasks, etc. Those skilled in the art can understand that the structure shown in Figure 4 is only a block diagram of part of the structure related to the solution of this application, and does not constitute a limitation on the mobile device to which the solution of this application is applied. The specific mobile device may include more or fewer components than those shown in the figure, or combine some components, or have different component arrangements.

[0079] It should be understood that the processor may be a Central Processing Unit (CPU), and the processor may also be other general-purpose processors, Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field-Programmable Gate Arrays (FPGAs) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. Among them, the general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0080] Among them, in one embodiment, the processor is used to run a computer program stored in a memory to implement the following steps:

[0081] Obtain a first bitrate value sent by a data receiving end, where the first bitrate value is sent by the data receiving end at a first moment and received by the self-mobile device at a second moment, and the time interval between the first moment and the second moment is T;

[0082] Obtain the map data of the self-mobile device within the time interval T;

[0083] Determine a target bitrate value according to the first bitrate value and the map data;

[0084] Map the target bitrate value and the map data to obtain a mapping relationship, and perform data transmission according to the mapping relationship.

[0085] In one embodiment, the map data implemented by the processor includes location information and a bitrate value corresponding to the location information; in the process of determining the target bitrate value according to the first bitrate value and the map data, it is used to implement:

[0086] Determine the target bitrate value according to the first bitrate value and a second bitrate value in the map data, where the second bitrate value is the bitrate value corresponding to the location information of the self-mobile device in the map data at the first moment.

[0087] In one embodiment, in the process of implementing the determination of the target bitrate value according to the first bitrate value and the second bitrate value in the map data, the processor is used to implement:

[0088] When the second bit rate value is valid information, calculate the target bit rate value based on a preset median algorithm according to the first bit rate value and the second bit rate value.

[0089] In one embodiment, when the processor implements the process of determining the target bit rate value according to the first bit rate value and the second bit rate value in the map data, it is further configured to implement:

[0090] When the second bit rate value belongs to invalid information, determine the first bit rate value as the target bit rate value.

[0091] In one embodiment, when the processor implements the process of mapping the target bit rate value to the map data to obtain a mapping relationship, it is configured to implement:

[0092] Map the target bit rate value to the target location information in the map data, where the target location information is the location information of the self-mobile device at the first moment.

[0093] In one embodiment, when the processor implements the process of data transmission according to the mapping relationship, it is configured to implement:

[0094] According to the mapping relationship, determine the current bit rate value corresponding to the current position of the self-mobile device;

[0095] Send the video stream data captured by the self-mobile device to the data receiving end based on the previous bit rate value.

[0096] In one embodiment, before the processor implements the method to obtain the first bit rate value sent by the data receiving end, it is further configured to implement:

[0097] Obtain the delay information sent by the data receiving end, and determine the time interval according to the delay information.

[0098] In one embodiment, when the processor implements the process of obtaining the map data of the mobile device within the time interval T, it is configured to implement:

[0099] Control the cache module to obtain the map data stored in the storage module according to the time interval T;

[0100] In one embodiment, when the processor implements the process of mapping the target bit rate value to the map data to obtain a mapping relationship, it is configured to implement:

[0101] Control the cache module to send the mapping relationship between the target bit rate value and the map data to the storage module for storage.

[0102] An embodiment of the present application also provides a computer-readable storage medium, on which a computer program is stored. The computer program includes program instructions, and the method implemented when the program instructions are executed can refer to the various embodiments of the data transmission method based on the code rate value of the present application.

[0103] Among them, the computer-readable storage medium may be an internal storage unit of the mobile device described in the foregoing embodiment, such as the hard disk or memory of the mobile device. The computer-readable storage medium may also be an external storage device of the mobile device, such as a plug-in hard disk equipped on the mobile device, a Smart Media Card (SMC), a Secure Digital (SD) card, a Flash Card, etc.

[0104] It should be understood that the terms used in the specification of the present application are only for the purpose of describing specific embodiments and are not intended to limit the present application. As used in the specification of the present application and the appended claims, unless the context clearly indicates otherwise, the singular forms "a", "an" and "the" are intended to include the plural forms.

[0105] It should also be understood that the term "and / or" used in the specification of the present application and the appended claims refers to any combination and all possible combinations of one or more of the associated listed items, and includes these combinations. It should be noted that in this article, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or system including a series of elements not only includes those elements, but also includes other elements not expressly listed, or also includes elements inherent to such process, method, article or system. Without further limitation, an element defined by the statement "including a..." does not exclude the existence of additional identical elements in the process, method, article or system including the element.

[0106] The serial numbers of the embodiments of the present application above are only for description and do not represent the advantages and disadvantages of the embodiments. The above is only the specific implementation manner of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present application can easily think of various equivalent modifications or substitutions, and these modifications or substitutions should be covered by the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A data transmission method based on a code rate value, characterized in that, Applied to a self - moving device, the method includes: Obtain a first bitrate value sent by a data receiving end, where the first bitrate value is sent by the data receiving end at a first moment and received by the self - moving device at a second moment, and the time interval between the first moment and the second moment is T; Obtain the map data of the self - moving device within the time interval T; Determine a target bitrate value according to the first bitrate value and the map data; Map the target bitrate value and the map data to obtain a mapping relationship, and perform data transmission according to the mapping relationship.

2. The data transmission method based on the code rate value according to claim 1, wherein The map data includes position information and a bitrate value corresponding to the position information; determining the target bitrate value according to the first bitrate value and the map data includes: Determine the target bitrate value according to the first bitrate value and a second bitrate value in the map data, where the second bitrate value is the bitrate value corresponding to the position information of the self - moving device in the map data at the first moment.

3. The data transmission method based on the code rate value according to claim 2, wherein Determining the target bitrate value according to the first bitrate value and the second bitrate value in the map data includes: When the second bitrate value is valid information, calculate the target bitrate value based on a preset median algorithm according to the first bitrate value and the second bitrate value.

4. The data transmission method based on the code rate value according to claim 2, wherein Determining the target bitrate value according to the first bitrate value and the second bitrate value in the map data further includes: When the second bitrate value belongs to invalid information, determine the first bitrate value as the target bitrate value.

5. The data transmission method based on the code rate value according to claim 1, characterized in that, Mapping the target bitrate value and the map data to obtain a mapping relationship includes: Map the target bitrate value and the target position information in the map data, where the target position information is the position information of the self - moving device at the first moment.

6. The data transmission method based on the code rate value according to claim 1, wherein Performing data transmission according to the mapping relationship includes: According to the mapping relationship, determine the current bitrate value corresponding to the current position of the self - moving device; Send the video stream data captured by the self - moving device to the data receiving end based on the previous bitrate value.

7. The data transmission method based on the code rate value according to any one of claims 1-6, characterized in that Before the method obtains the first bitrate value sent by the data receiving end, it further includes: Obtain the delay information sent by the data receiving end, and determine the time interval according to the delay information.

8. The data transmission method based on a code rate value according to any one of claims 1-6, characterized in that, The self - moving device includes a cache module and a storage module. Obtaining the map data of the mobile device within the time interval T includes: Control the cache module to obtain the map data stored in the storage module according to the time interval T; Mapping the target bitrate value and the map data to obtain a mapping relationship includes: Control the cache module to send the mapping relationship between the target bitrate value and the map data to the storage module for storage.

9. A mobile device, characterized in that, The mobile device includes a processor, a cache module, a storage module, and a computer program stored on the storage module and executable by the processor. When the computer program is executed by the processor, it implements the steps of the data transmission method based on bitrate values as described in any one of claims 1 to 8.

10. A computer-readable storage medium, characterized in that, A computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the steps of the data transmission method based on the code rate value as described in any one of claims 1 to 8 are implemented.

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