A gimbal image transmission method and device, equipment and medium

Abstract

The application relates to a gimbal-to-device image transmission method and device, equipment and medium, a gimbal-to-device image transmission method comprising the following steps: based on an AI tracking camera, capturing an image and converting the image into a corresponding digital signal; based on a USB interface, transmitting the digital signal to a receiving port in a handheld gimbal; decoding the digital signal received through the receiving port to generate corresponding decoded image information; sending the decoded image information to a screen control module for rendering, and displaying the corresponding rendering result on the built-in screen included in the screen control module; judging whether the USB interface is in a transmission state, and generating a corresponding energy management strategy. By integrating a decoding chip and a screen control module inside the handheld gimbal, and using an AI tracking camera connected through a USB interface, a complete closed-loop process from image acquisition, transmission, decoding to display is realized, and an image transmission and processing architecture independent of an external intelligent terminal is constructed.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of gimbal image transmission, in particular to a gimbal-to-device image transmission method, device, equipment and medium. BACKGROUND

[0002] At present, with the continuous progress of video image processing and transmission technology, its application in portable shooting equipment is more and more widely, which significantly improves the user's visual experience and shooting flexibility. As a device that integrates image stabilization and shooting control, handheld gimbal has become an important tool for mobile image creation. However, the existing handheld gimbal products still have certain limitations in integration and functional independence, especially in the use scene that needs real-time preview and monitoring of the shooting picture, some products still rely on external intelligent terminals for image display and processing, such as the handheld gimbal products on the market mostly rely on the camera of the mobile phone as the tracking camera, rely on the mobile phone application (APP) as the display interface, so as to display the captured picture of AI tracking function, which leads to low system collaboration efficiency, slow image response, and uncertainty in stability and compatibility. SUMMARY

[0003] In order to solve the problem that handheld gimbal products mostly rely on the camera of the mobile phone as the tracking camera to display the captured picture of AI tracking function, which leads to low system collaboration efficiency and slow image response, the present application provides a gimbal-to-device image transmission method, device, equipment and medium.

[0004] The above invention purpose of the present application is realized by the following technical scheme:

[0005] A gimbal-to-device image transmission method applied to a handheld gimbal, wherein the handheld gimbal is provided with a decoding chip and a screen control module, and an AI tracking camera connected through a USB interface, the gimbal-to-device image transmission method comprising:

[0006] Based on the AI tracking camera, capturing an image and converting the image into a corresponding digital signal;

[0007] Based on the USB interface, transmitting the digital signal to a receiving port in the handheld gimbal;

[0008] Through the decoding chip, decoding the digital signal received through the receiving port to generate corresponding decoded image information;

[0009] Sending the decoded image information to the screen control module for rendering, and displaying the corresponding rendering result on the built-in screen included in the screen control module;

[0010] Determine whether the USB interface is in a transmission state and generate a corresponding energy management strategy.

[0011] By adopting the above technical solution, integrating a decoding chip and screen control module inside the handheld gimbal, and using an AI tracking camera connected via a USB interface, a complete closed-loop process of image acquisition, transmission, decoding and display is realized, constructing an image transmission and processing architecture that does not rely on external smart terminals.

[0012] Preferably, in the step of determining whether the USB interface is in a transmission state and generating a corresponding power management strategy, the power management strategy includes a decoding chip operating frequency reduction strategy, a display brightness adjustment strategy, and a target adjustment strategy. The target adjustment strategy is used to switch to a preset target decoding chip operating frequency and target display brightness level. The step of determining whether the USB interface is in a transmission state and generating a corresponding power management strategy includes the following steps:

[0013] Detect whether the transmission lines in the USB interface are in a signal active state;

[0014] If the transmission line in the USB interface is in a signal active state, the duration of the signal active state is recorded, and the difference between the duration of the state and a preset state threshold is used to determine whether the image data is in a transmission state.

[0015] If the image data is not in a transmission state, a corresponding strategy for reducing the operating frequency of the decoding chip is matched based on the comparison difference.

[0016] Acquire ambient light intensity data, and match the corresponding display brightness adjustment strategy based on the ambient light intensity data and the decoding chip's operating frequency reduction strategy;

[0017] If the image data is in the transmission state and the AI ​​tracking camera is detected to be active, then switch to the pre-set target decoding chip operating frequency and target display brightness level.

[0018] By adopting the above technical solution, intelligent identification of image data transmission status is achieved by detecting the signal activity status and determining the duration in the USB interface. When it is determined that the image data is not in the transmission state, the system operating parameters can be adjusted in time, effectively reducing the ineffective energy consumption caused by long-term high-load operation and improving the battery life of the device during standby or idle periods. At the same time, when image transmission does occur, it can switch to the appropriate performance mode in time to ensure image processing performance and display experience, taking into account both energy saving and response efficiency.

[0019] In a preferred embodiment, this application can be further configured such that the method for setting the preset state threshold includes:

[0020] Obtain the data transmission duration range corresponding to different image acquisition tasks;

[0021] Based on each of the data transmission duration intervals, multiple candidate thresholds are determined;

[0022] The misjudgment rate of the candidate thresholds in historical task scenarios is statistically analyzed, and the candidate threshold with the lowest misjudgment rate is determined as the preset state threshold.

[0023] By adopting the above technical solution, and by classifying and analyzing the data transmission characteristics of different image acquisition tasks, and comparing the false judgment rate of historical usage scenarios among multiple candidate thresholds, the most suitable transmission state threshold for the current system application can be accurately determined, thereby improving the accuracy of image transmission state judgment and avoiding false judgments and false triggers caused by unreasonable threshold settings. This further optimizes the stability and reliability of system frequency regulation and brightness strategy execution.

[0024] In a preferred embodiment, this application can be further configured such that: the step of recording the duration of the signal activity state and determining whether the image data is in a transmission state based on the difference between the duration of the state and a preset state threshold includes:

[0025] Determine the sampling period;

[0026] Multiple consecutive sampling periods that are in a signal active state are added together to generate the corresponding state duration;

[0027] Calculate the difference between the duration of the state and the preset state threshold;

[0028] When the comparison difference is greater than or equal to zero, it is determined that the image data is in the transmission state;

[0029] When the comparison difference is less than zero, it is determined that the image data is not in the transmission state.

[0030] By adopting the above technical solution, and by classifying and analyzing the data transmission characteristics of different image acquisition tasks, and comparing the false judgment rate of historical usage scenarios among multiple candidate thresholds, the most suitable transmission state threshold for the current system application can be accurately determined, thereby improving the accuracy of image transmission state judgment and avoiding false judgments and false triggers caused by unreasonable threshold settings. This further optimizes the stability and reliability of system frequency regulation and brightness strategy execution.

[0031] In a preferred embodiment, this application can be further configured such that the step of determining that the image data is in a transmission state when the contrast difference is greater than or equal to zero includes:

[0032] When the comparison difference is greater than or equal to zero, the corresponding comparison difference in multiple historical sampling periods is obtained;

[0033] The comparison mean is calculated based on the comparison differences corresponding to multiple historical sampling periods;

[0034] Calculate the magnitude difference between the comparison difference and the comparison mean;

[0035] When the amplitude difference is less than a preset amplitude threshold, the image data is determined to be in a transmission state; when the amplitude difference is greater than the preset amplitude threshold, the image data is determined not to be in a transmission state.

[0036] By adopting the above technical solution, under the premise of initially judging that the image data is in the transmission state, further difference analysis is performed by combining the average level of the comparison difference of historical periods, and the difference between the current deviation value and the mean value is used to determine whether it belongs to abnormal fluctuation. This helps the system to eliminate misjudgment behavior caused by occasional interference or non-image data transmission, improve the robustness of transmission status recognition and response accuracy, and effectively suppress unnecessary high-power switching behavior.

[0037] In a preferred embodiment, this application can be further configured such that the step of matching the corresponding decoding chip operating frequency reduction strategy based on the comparison difference includes:

[0038] Determine the absolute value of the comparison difference;

[0039] The system invokes a pre-established multi-level operating frequency strategy table, which includes multiple numerical ranges set according to the numerical values, and decoding chip operating frequency reduction strategies associated with and mapped to the numerical ranges.

[0040] The numerical range into which the absolute value falls is determined as the target range, and a corresponding decoding chip operating frequency reduction strategy is matched based on the target range. The decoding chip operating frequency reduction strategy is used to execute the corresponding operating frequency reduction operation of the decoding chip.

[0041] By adopting the above technical solution and establishing a multi-level working frequency strategy table, the absolute value of the comparison difference is mapped and matched with multiple numerical ranges. The system can dynamically select the appropriate decoding chip frequency level according to the degree of deviation of the transmission status, thereby performing graded frequency modulation processing according to data activity, avoiding the performance waste caused by one-size-fits-all frequency switching, and realizing fine control of decoding chip power consumption and layered optimization of energy saving effect.

[0042] In a preferred embodiment, this application can be further configured such that the step of matching a corresponding display brightness adjustment strategy based on the ambient light intensity data and the decoding chip operating frequency reduction strategy includes:

[0043] The ambient light intensity number and the decoding chip operating frequency reduction strategy are normalized to generate corresponding light intensity parameters and frequency parameters.

[0044] The light intensity parameter and the frequency parameter are substituted into a pre-established brightness strategy matching model for weighted averaging to generate a corresponding display brightness adjustment strategy. The display brightness adjustment strategy is used to perform the corresponding brightness adjustment operation of the display screen.

[0045] By adopting the above technical solution, a joint control model of ambient light intensity and chip working state is introduced during the brightness adjustment process. Through normalization calculation and weighted strategy model matching, the actual demand of the current scene on screen brightness can be comprehensively evaluated. This makes the brightness adjustment no longer dependent on a single lighting factor, but forms a dynamic adjustment mechanism driven by multiple parameters. This helps to reduce ineffective display power consumption while ensuring visual visibility, and achieve an efficient balance between system-level power consumption and user experience.

[0046] The second objective of this invention is achieved through the following technical solution:

[0047] A gimbal-to-device image transmission device is applied to a handheld gimbal, the handheld gimbal being equipped with a decoding chip and a screen control module, as well as an AI tracking camera connected via a USB interface. The gimbal-to-device image transmission method includes:

[0048] The conversion module is used to capture images based on the AI ​​tracking camera and convert the images into corresponding digital signals;

[0049] A transmission module is used to transmit the digital signal to the receiving port inside the handheld gimbal via the USB interface;

[0050] The generation module is used to decode the digital signal received through the receiving port using the decoding chip, and generate corresponding decoded image information;

[0051] The rendering module is used to send the decoded image information to the screen control module for rendering, and to display the corresponding rendering result on the built-in screen included in the screen control module.

[0052] The judgment module is used to determine whether the USB interface is in a transmission state and generate a corresponding energy management strategy.

[0053] The above-mentioned objective three of this application is achieved through the following technical solution:

[0054] A computer device includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of the above-described gimbal-to-device image transmission method.

[0055] The fourth objective of this application is achieved through the following technical solution:

[0056] A computer-readable storage medium storing a computer program, which, when executed by a processor, implements the steps of the above-described method for transmitting images from a PTZ device.

[0057] In summary, this application includes at least one of the following beneficial technical effects:

[0058] This application achieves a complete closed-loop process for image acquisition, transmission, decoding, and display by integrating a decoding chip and screen control module within a handheld gimbal and employing an AI tracking camera connected via a USB interface. This constructs an image transmission and processing architecture that does not rely on external smart terminals. After autonomously capturing the target, the AI ​​tracking camera transmits the image data as a digital signal to the gimbal body at high speed via the USB interface, avoiding dependence on mobile phone cameras and APP systems. The received image data is efficiently analyzed by a dedicated decoding chip within the gimbal and directly rendered and displayed on the locally integrated screen by the screen control module, thus realizing a local closed loop for image processing and presentation. Furthermore, by judging the USB interface status during transmission and dynamically generating energy management strategies, the power allocation capability of the device under high-intensity operation is further optimized. Overall, this technical solution not only improves the independence and integration of the AI ​​tracking function, avoiding interference from external factors such as unstable connections, but also enhances the real-time performance of image display and the stability of system operation, significantly improving the user's operating experience and reliability in portable shooting and mobile live streaming scenarios. Attached Figure Description

[0059] Figure 1 This is a flowchart of a method for transmitting images from a PTZ camera to a device according to one embodiment of this application;

[0060] Figure 2 This is a flowchart illustrating the implementation of step S50 in a gimbal-to-device image transmission method according to an embodiment of this application.

[0061] Figure 3 This is a flowchart illustrating the implementation of step S502 in a gimbal-to-device image transmission method according to an embodiment of this application.

[0062] Figure 4 This is another implementation flowchart of step S5024 in a gimbal-to-device image transmission method according to one embodiment of this application;

[0063] Figure 5 This is a flowchart illustrating the implementation of step S503 in a gimbal-to-device image transmission method according to an embodiment of this application.

[0064] Figure 6 This is a flowchart illustrating the implementation of step S504 in a gimbal-to-device image transmission method according to an embodiment of this application.

[0065] Figure 7 This is a schematic diagram of the handheld gimbal used in a gimbal-to-device image transmission method according to an embodiment of this application;

[0066] Figure 8 This is a schematic block diagram of a gimbal-to-device image transmission device according to one embodiment of this application;

[0067] Figure 9 This is a schematic diagram of a device according to one embodiment of this application. Detailed Implementation

[0068] The present application will be further described in detail below with reference to the accompanying drawings.

[0069] In one embodiment, such as Figure 1 and Figure 7 As shown, this application discloses a gimbal-to-device image transmission method, applied to a handheld gimbal. The handheld gimbal is equipped with a decoding chip, a screen control module, and an AI tracking camera connected via a USB interface. The gimbal-to-device image transmission method includes:

[0070] S10. Based on the AI ​​tracking camera, capture images and convert the images into corresponding digital signals;

[0071] S20. Based on the USB interface, transmit the digital signal to the receiving port inside the handheld gimbal;

[0072] S30. The digital signal received through the receiving port is decoded by the decoding chip to generate corresponding decoded image information;

[0073] S40. Send the decoded image information to the screen control module for rendering, and display the corresponding rendering result on the built-in screen included in the screen control module.

[0074] S50. Determine whether the USB interface is in a transmission state and generate a corresponding energy management strategy.

[0075] In this embodiment, the AI ​​tracking camera is a shooting device with image recognition and tracking capabilities. It can automatically identify and lock onto changes in the position of a target object during shooting, achieving dynamic tracking and shooting. The camera establishes a wired data connection with the handheld gimbal via a USB interface. The USB interface refers to a unified serial bus connection method used for high-speed data transmission between the camera and the gimbal; the transmission medium is typically a data cable. The receiving port is a data access module located inside the handheld gimbal and connected to the USB interface. It is responsible for receiving digital image signals sent by the external camera and importing these signals into the gimbal's internal processing flow. The decoding chip is a dedicated hardware module integrated within the handheld gimbal. It is used to restore the received compressed or encoded image signals into displayable image data. This chip has the ability to perform real-time parsing of video signal formats. Decoded image information refers to the standard image data obtained after processing by the decoding chip, which can be recognized and used by the subsequent display module. The screen control module is a circuit system used to manage image display output. It is responsible for converting the processed image data into displayable signals and outputting them to the screen. Its control logic includes image rendering, refresh rate adjustment, and display logic execution. Energy management strategy refers to the power supply control strategy generated based on the current workload of the gimbal when the USB interface is detected to be active or idle. This strategy can adjust the power supply priority, allocate power resources, or control the power consumption status of each functional module to improve the device's operating efficiency and battery life.

[0076] For example, in practical use, after a user connects the AI ​​tracking camera to the handheld gimbal's USB port, the camera automatically tracks and captures moving targets in front of it, converting the captured image into a digital signal in real time and sending it to the gimbal's internal components. The receiving port receives this signal and processes it with a decoding chip to generate a clear image. The image is then rendered by the screen control module and simultaneously displayed on the built-in screen. If continuous data transmission from the camera is detected, the system activates a high-power operation strategy; if the camera stops working, it automatically switches to a low-power standby mode, thus achieving efficient coordination between intelligent image transmission and power allocation.

[0077] Preferably, in the step of determining whether the USB interface is in a transmission state and generating a corresponding power management strategy, the power management strategy includes a decoding chip operating frequency reduction strategy, a display brightness adjustment strategy, and a target adjustment strategy. The target adjustment strategy is used to switch to a preset target decoding chip operating frequency and target display brightness level. The step of determining whether the USB interface is in a transmission state and generating a corresponding power management strategy includes the following steps:

[0078] In one embodiment, such as Figure 2As shown, in step S50, the energy management strategy includes a decoding chip operating frequency reduction strategy, a display brightness adjustment strategy, and a target adjustment strategy. The target adjustment strategy is used to switch to a preset target decoding chip operating frequency and target display brightness level. The step of generating the corresponding energy management strategy, considering whether the USB interface is in a transmission state, includes the following steps:

[0079] S501. Detect whether the transmission lines in the USB interface are in a signal activity state. Specifically, the signal activity state of the transmission lines in the USB interface refers to whether there is continuous data flow in the signal lines connected through the USB interface. This state can be determined by detecting the frequency of level transitions on the USB data lines, the effective payload of data packets, etc., to determine whether the data is in an active state, serving as a preliminary basis for judging whether the system is transmitting image data. For example, when the camera is in the initialization stage or before image capture has started, there is very little data activity in the lines, which can be judged as an inactive state. Once a stable image stream transmission begins, there will be obvious continuous changes in data packets on the lines, which can serve as a trigger condition for subsequent actions.

[0080] S502. If the transmission line in the USB interface is in a signal active state, the duration of the signal active state is recorded. Based on the difference between the duration and a preset state threshold, it is determined whether image data is being transmitted. Specifically, the duration refers to the length of time the USB interface maintains the signal active state after detecting it. The system monitors the signal state at a set sampling period and accumulates the duration when the signal state is "active" for consecutive periods. By comparing this duration with the preset state threshold, it can be further determined whether there is continuous and effective image data transmission. If the duration is significantly higher than the threshold, it indicates that the system is performing stable image transmission; otherwise, it may only be a short handshake packet or a non-image signal. For example, if the preset state threshold is 400ms, after detecting five consecutive 100ms periods of active signal, the system can determine that image transmission is in progress.

[0081] S503. If the image data is not in transmission mode, the corresponding decoding chip operating frequency reduction strategy is matched based on the comparison difference. Specifically, the comparison difference refers to the numerical difference obtained by subtracting a preset state threshold from the state duration. The positive or negative result is used to help determine whether the operating state of the decoding chip needs to be adjusted. If the difference is negative, it means that the current signal activity is insufficient to constitute stable image transmission. At this time, the system can find the corresponding frequency reduction strategy based on the absolute value of the difference, thereby controlling the chip for energy saving. For example, if the difference is -250ms, the system can enter a lower operating frequency range, reduce the chip voltage and main frequency, reduce ineffective power consumption, thereby extending battery life and controlling the overall temperature rise.

[0082] S504. Acquire ambient light intensity data and, based on the ambient light intensity data and the decoding chip's operating frequency reduction strategy, match the corresponding display brightness adjustment strategy. Specifically, ambient light intensity data refers to the current ambient light brightness value collected by a light sensor installed on the pan-tilt unit or the device itself. This data is transmitted to the main control unit via analog voltage or digital signal to determine the brightness level of the current environment. The system combines the current operating frequency state of the decoding chip with the ambient light intensity data and power consumption state as input variables to find the preset brightness adjustment strategy, thereby determining the required brightness level for the screen display. For example, in a low-light indoor environment, if the decoding chip has entered a low-frequency operating mode, the display brightness can be reduced simultaneously to avoid excessive lighting and energy waste.

[0083] S505. If image data is being transmitted and the AI ​​tracking camera is detected to be active, the system switches to the pre-set target decoding chip operating frequency and target display brightness level. Specifically, the active state of the AI ​​tracking camera means that the camera module has completed initialization and is in operation or shooting task execution state. This state can be detected through the power management module or camera control interface. For example, when the sensor power supply is stable, the level response is normal, and the data stream output is enabled, it can be determined that the camera is active. When the system simultaneously detects that image transmission is in progress and the camera is active, it determines that the device has entered the actual shooting stage. At this time, the system will synchronously switch to the preset operating parameters, including increasing the decoding chip operating frequency to ensure image decoding efficiency, and increasing the display brightness level to ensure image visibility for users in strong light or complex scenes, thereby improving the stability and professionalism of the image transmission experience.

[0084] Specifically, if image data is in transmission and the AI ​​tracking camera is detected to be active, the step of switching to the pre-set target decoding chip operating frequency and target display brightness level includes:

[0085] The system detects the working identifier signal corresponding to the camera's activation status. When the working identifier signal meets the preset judgment conditions, a camera activation confirmation signal is generated.

[0086] Load the pre-stored target runtime configuration file and extract the target decoding chip operating frequency and target display brightness level parameters corresponding to the image transmission status from the configuration file;

[0087] Switch the operating frequency of the current decoding chip to the operating frequency of the target decoding chip, and adjust the current display brightness level to the target display brightness level to complete the switching operation of the system's high-performance image transmission mode.

[0088] In one embodiment, such asFigure 2 As shown, the method for setting the preset state threshold includes:

[0089] S41. Obtain the data transmission duration range corresponding to different image acquisition tasks. Specifically, different image acquisition tasks refer to the types of image acquisition performed by the device in different usage scenarios, such as still image shooting, person tracking video recording, and long-term outdoor live streaming. These tasks differ significantly in terms of duration, frequency of image changes, and stability of image data streams. By statistically analyzing the performance range of data transmission duration in the USB interface during the actual operation of various tasks, the shortest, longest, and average duration data required for the image transmission phase of different types of tasks can be obtained, providing a basis for subsequent threshold setting. For example, in still image shooting tasks, image data transmission is usually concentrated in a short period of time, while in dynamic tracking tasks, the data transmission time is often longer and more continuous.

[0090] S42. Based on the data transmission duration intervals, multiple candidate thresholds are determined. Specifically, the data transmission duration interval refers to the effective transmission time range of image data in a typical application process for a certain type of image acquisition task. The system collects a large amount of historical operation data of the same type of task, analyzes the start and end times and stable segments of data transmission, and extracts the representative transmission duration intervals for this task type. Subsequently, based on these intervals, the system constructs multiple candidate state thresholds, such as using the interval average, weighted median, or set offset value as a basis, to generate several potentially applicable thresholds, providing a parameter basis for the next step of misclassification rate comparison.

[0091] S43. Calculate the misjudgment rate of candidate thresholds in historical task scenarios, and determine the candidate threshold with the lowest misjudgment rate as the preset state threshold. Specifically, the misjudgment rate refers to the proportion of deviation between the system's judgment of whether an image is in a transmission state based on candidate thresholds and the actual transmission situation. The system will backtrack and analyze the usage effect of each candidate threshold in real historical task data, compare the consistency between the candidate threshold judgment results and the actual image data transmission markers, and count the number of misjudgments and the misjudgment ratio caused by each candidate value. Finally, the candidate value with the lowest misjudgment rate is selected as the preset state threshold of the current system to provide the optimal judgment basis in subsequent image transmission judgment processes. For example, among the three candidate thresholds, if a certain value can accurately identify the transmission state in most tasks with a misjudgment ratio of less than 1%, the system will prioritize selecting this value to improve the overall accuracy and applicability of the judgment.

[0092] In one embodiment, such as Figure 3 As shown, in step S502, which involves recording the duration of the signal activity state and determining whether the image data is in a transmission state based on the difference between the duration and a preset state threshold, the steps include:

[0093] S5021. Determine the sampling period; specifically, the sampling period refers to the time interval in which the system polls and detects the signal activity status of the transmission lines in the USB interface, usually set in milliseconds, for example, sampling the status once every 100ms. The length of the sampling period directly affects the resolution and real-time performance of the status duration. The shorter the sampling period, the more timely the system's response to status changes, but the processing frequency and power consumption also increase accordingly; the longer the sampling period, the lower the system resource consumption, but it may cause instantaneous changes to be missed. Therefore, the sampling period should be optimized according to the device performance and transmission requirements to balance detection accuracy and system load.

[0094] S5022. Multiple consecutive sampling periods in an active signal state are summed to generate the corresponding state duration. Specifically, summing multiple consecutive sampling periods in an active signal state means that when the system continuously detects that the signal state is active for several sampling periods, the total time corresponding to these periods is accumulated and used as the length of time the image data is in an effective transmission state. This processing method can effectively filter out short-duration interference pulses or non-image data packet signals, retaining only continuous data activity information. For example, when the signal is active for 5 consecutive sampling periods (100ms per period), the system accumulates a state duration of 500ms, which is used as the basis for judgment and input into the subsequent logic judgment module.

[0095] S5023. Calculate the comparison difference between the state duration and the preset state threshold. Specifically, the comparison difference refers to the result obtained by comparing the currently statistically obtained state duration with the preset state threshold in the system. It is used to quantify the degree of difference between the current signal activity time and the transmission judgment standard. This difference can be positive, zero, or negative, representing that the current state duration is greater than, equal to, or less than the expected transmission judgment standard, respectively. It is a key parameter for the system to judge the image data state. For example, when the duration is 500ms and the preset threshold is 400ms, the difference is +100ms, which can be used to support the judgment that the image is in a transmission state.

[0096] S5024. When the contrast difference is greater than or equal to zero, the system determines that the image data is in a transmission state. Specifically, when the contrast difference is greater than or equal to zero, the system determines that the current data transmission behavior meets the minimum duration requirement for image transmission, thus determining that the image data is in a transmission state. This determination mechanism avoids misjudgments caused by short-term signal fluctuations or initialization processes, ensuring that image processing logic is only entered when data activity reaches a stable duration, thereby guaranteeing the reasonable allocation of resources between the decoding module and the display module.

[0097] S5025. When the comparison difference is less than zero, it is determined that the image data is not in the transmission state. Specifically, when the comparison difference is less than zero, it indicates that the current signal activity state has not yet reached the minimum time standard required for image transmission, and the system identifies this situation as the image data not being transmitted. This judgment can effectively filter out non-image transmission behaviors such as device power-on initialization, camera standby, or occasional interference data, preventing the system from mistakenly entering a high-load operation mode under invalid data conditions, which helps to save energy and extend the device's battery life.

[0098] In one embodiment, such as Figure 4 As shown, in step S5024, the step of determining that the image data is in a transmission state when the comparison difference is greater than or equal to zero includes:

[0099] S50241. When the contrast difference is greater than or equal to zero, acquire the corresponding contrast differences from multiple historical sampling periods. Specifically, the corresponding contrast differences from multiple historical sampling periods refer to the set of differences between the state duration recorded in several sampling periods completed before the current judgment period and the preset state threshold. These historical difference data reflect the basis for the system's judgment of the image transmission state over a past period and are used to establish a reference standard for the contrast mean and judgment stability. For example, the differences obtained in the previous 5 judgment periods are +80ms, +60ms, +70ms, +85ms, and +65ms, respectively. These values ​​will be used as the historical basis for the current judgment.

[0100] S50242. Calculate the comparison mean based on the corresponding comparison differences across multiple historical sampling periods. Specifically, the comparison mean is the result obtained by arithmetically averaging the comparison differences across the multiple historical sampling periods, representing the average estimate of the system's image transmission persistence over a period of time. By setting the mean, a baseline can be established between the current judgment period and historical performance to determine whether the current state is within the normal fluctuation range. For example, if the average of the five historical differences is +72ms, and the current comparison difference is +75ms, it indicates that the current state is basically consistent with historical performance and possesses stability.

[0101] S50243. Calculate the amplitude difference between the contrast difference and the historical contrast mean. Specifically, the amplitude difference refers to the absolute difference between the contrast difference in the current sampling period and the historical contrast mean, used to measure the degree of deviation between the current judgment value and the historical judgment result. This amplitude difference serves as the basis for evaluating the system state fluctuation and can help determine whether the current data state belongs to a stable image transmission process. For example, if the current contrast difference is +75ms and the contrast mean is +72ms, then the amplitude difference is 3ms, indicating that the current performance is consistent with the historical performance and has credibility; if the difference is +220ms, then the deviation from the historical mean is too large, which may be an abnormal transmission event.

[0102] S50244: When the amplitude difference is less than a preset amplitude threshold, the image data is determined to be in a transmission state; when the amplitude difference is greater than the preset amplitude threshold, the image data is determined not to be in a transmission state. Specifically, the preset amplitude threshold refers to the reference limit value used by the system to determine whether the state fluctuation is within an acceptable range. It is usually set according to the device's requirements for judgment accuracy and historical misjudgment statistics. For example, if the system sets the amplitude threshold to 50ms, if the current amplitude difference is less than this value, the image data is determined to be in a stable transmission state; otherwise, the state fluctuation is considered abnormal, possibly due to a misjudgment caused by a sudden control packet, initialization pulse, or short-term non-image data, thus avoiding entering a high-power operation mode. This secondary judgment mechanism helps improve the system's accuracy in identifying real image transmission behavior and enhances the rationality of power consumption control strategy execution.

[0103] In one embodiment, such as Figure 5 As shown, in step S503, which is the step of matching the corresponding decoding chip operating frequency reduction strategy according to the comparison difference, the following are included:

[0104] S5031. Determine the absolute value of the contrast difference; specifically, the absolute value of the contrast difference refers to taking the absolute value of the contrast difference obtained in the image transmission state judgment to obtain a pure numerical result without a positive or negative sign. This absolute value reflects the degree of deviation between the current state duration and the preset state threshold, without distinguishing between being too high or too low, only focusing on the magnitude of the deviation, which is used to subsequently find the matching interval in the strategy table. Through absolute value processing, the system can uniformly use a set of mapping rules between numerical intervals and frequency strategies, simplifying the control logic. For example, when the contrast difference is -200ms or +200ms, its absolute value is 200ms, and the system considers them to be the same degree of deviation.

[0105] S5032. The system invokes a pre-defined multi-level operating frequency strategy table. This table includes multiple numerical ranges set according to their magnitudes, and decoding chip operating frequency reduction strategies mapped to these ranges. Specifically, the multi-level operating frequency strategy table refers to a pre-defined mapping relationship of control parameters based on different deviations, used to guide the frequency adjustment behavior of the decoding chip under different workloads. This strategy table includes multiple numerical ranges, such as 0–100ms, 101–300ms, and above 301ms, with a corresponding decoding chip operating frequency reduction strategy set for each range. These strategies may include configuration instructions to switch to different voltages, different clock frequencies, or trigger low-power operating modes. Invoking this strategy table enables the system to achieve fine-grained power management when images are not being transmitted, reducing overall power consumption and extending battery life by controlling the chip frequency.

[0106] S5033. The system determines the target range as the numerical interval into which the absolute value falls, and matches the corresponding decoding chip operating frequency reduction strategy based on the target range. The decoding chip operating frequency reduction strategy is used to execute the corresponding decoding chip operating frequency reduction operation. Specifically, the target range refers to the numerical range in the strategy table where the absolute value of the comparison difference falls. The system compares the current absolute value with multiple preset ranges one by one to determine the range to which the value belongs, using this as the basis for control decisions. Once the target range is determined, the system can read the corresponding decoding chip operating frequency reduction strategy from the strategy table and execute the relevant frequency adjustment operation accordingly. For example, if the current absolute value is 250ms and the matching range is 101–300ms, the system can select a medium-level frequency reduction mode to reduce the decoding processor's main frequency to a certain intermediate level, significantly reducing power consumption while ensuring basic responsiveness. This dynamic adjustment method based on the matching range can improve the system's energy consumption control capability in non-image transmission states, helping to optimize the overall operating efficiency.

[0107] In one embodiment, such as Figure 6 As shown, in step S504, which is the step of matching the corresponding display brightness adjustment strategy based on the ambient light intensity data and the decoding chip operating frequency reduction strategy, the following steps are included:

[0108] S5041. The ambient light intensity value and the decoding chip operating frequency reduction strategy are normalized to generate corresponding light intensity parameters and frequency parameters. Specifically, the ambient light intensity value refers to the brightness level of the current environment detected by the ambient light sensor in the device, usually expressed in a certain unit illuminance (e.g., Lux), used to reflect the intensity of surrounding light. The decoding chip operating frequency reduction strategy is a processor performance adjustment scheme executed by the system based on the image transmission status judgment result, used to reduce power consumption by reducing the frequency under low load. Normalizing the two means converting the ambient light intensity value and the frequency reduction strategy level into unified dimensionless parameters, such as converting the ambient light intensity into a light intensity parameter between 0 and 1, and corresponding the frequency strategy level (e.g., high, medium, low) to a fixed proportion of frequency parameters, so that control quantities of different dimensions can be uniformly calculated and processed in the same model. This normalization process can improve the adaptability of parameters in subsequent model processing and enhance the logical coupling of the brightness adjustment strategy.

[0109] S5042. Substitute the light intensity parameters and frequency parameters into the pre-established brightness strategy matching model for weighted averaging to generate a corresponding display brightness adjustment strategy. This strategy is used to execute the corresponding brightness adjustment operation on the display screen. Specifically, the brightness strategy matching model is a mathematical model established by the system based on multiple parameter inputs to determine the screen brightness level. This model typically uses a weighted average or linear combination method to fuse the ambient light intensity and system operating status. By using the normalized light intensity parameters and frequency parameters as model inputs, the system performs weighted processing according to preset weights to obtain the current suitable display brightness level, thereby generating the corresponding brightness adjustment strategy. This strategy is used to drive the display screen's brightness control circuit to perform corresponding adjustment operations, achieving synchronous optimization of display brightness based on the current external environment and internal energy consumption status. For example, in a low-light environment and when the system is in frequency reduction mode, the brightness value output by the model will be significantly lower than the result in a high-light environment and when the system is under high load, thus ensuring that while meeting visibility requirements, display energy consumption is minimized, improving the overall device battery life.

[0110] It should be understood that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0111] In one embodiment, a gimbal-to-device image transmission device is provided, which corresponds one-to-one with the gimbal-to-device image transmission method described in the above embodiments. For example... Figure 8 As shown, this PTZ-based image transmission device includes a conversion module, a transmission module, a generation module, a rendering module, and a judgment module. Detailed descriptions of each functional module are as follows:

[0112] The conversion module is used to capture images based on the AI ​​tracking camera and convert the images into corresponding digital signals;

[0113] A transmission module is used to transmit the digital signal to the receiving port inside the handheld gimbal via the USB interface;

[0114] The generation module is used to decode the digital signal received through the receiving port using the decoding chip, and generate corresponding decoded image information;

[0115] The rendering module is used to send the decoded image information to the screen control module for rendering, and to display the corresponding rendering result on the built-in screen included in the screen control module.

[0116] The determination module is used to determine whether the USB interface is in a transmission state and generate a corresponding energy management strategy.

[0117] Optionally, in the judgment module, the energy management strategy includes a decoding chip operating frequency reduction strategy, a display brightness adjustment strategy, and a target adjustment strategy. The target adjustment strategy is used to switch to a preset target decoding chip operating frequency and target display brightness level. The judgment module further includes:

[0118] The first detection submodule is used to detect whether the transmission line in the USB interface is in a signal active state.

[0119] The recording submodule is used to record the duration of the signal activity state if the transmission line in the USB interface is in a signal activity state, and to determine whether the image data is in a transmission state based on the difference between the duration of the state and a preset state threshold.

[0120] The matching submodule is used to match the corresponding decoding chip operating frequency reduction strategy based on the comparison difference if the image data is not in the transmission state.

[0121] The acquisition submodule is used to acquire ambient light intensity data and match the corresponding display brightness adjustment strategy based on the ambient light intensity data and the decoding chip's operating frequency reduction strategy.

[0122] The second detection submodule is used to switch to the pre-set target decoding chip operating frequency and target display brightness level if the image data is in the transmission state and the AI ​​tracking camera is detected to be in the active state.

[0123] Optionally, the determination module further includes:

[0124] The acquisition submodule is used to obtain the data transmission duration range corresponding to different image acquisition tasks;

[0125] The first determining submodule is used to determine multiple candidate thresholds based on each of the data transmission duration intervals;

[0126] The statistics submodule is used to calculate the misjudgment rate of the candidate threshold in historical task scenarios, and determine the candidate threshold with the lowest misjudgment rate as the preset state threshold.

[0127] Optionally, the recording submodule includes:

[0128] The second determining unit is used to determine the sampling period;

[0129] The first generation unit is used to add together multiple consecutive sampling periods that are in a signal active state to generate the corresponding state duration.

[0130] The calculation unit is used to calculate the comparison difference between the state duration and the preset state threshold.

[0131] The first judgment unit is used to determine that the image data is in the transmission state when the comparison difference is greater than or equal to zero.

[0132] The second judgment unit is used to determine that the image data is not in the transmission state when the comparison difference is less than zero.

[0133] Optionally, the first determination unit includes:

[0134] The acquisition subunit is used to acquire the corresponding comparison difference in multiple historical sampling periods when the comparison difference is greater than or equal to zero.

[0135] The first calculation subunit is used to calculate the comparison mean based on the corresponding comparison differences in multiple historical sampling periods;

[0136] The second calculation subunit is used to calculate the magnitude difference between the comparison difference and the comparison mean;

[0137] The judgment subunit is used to determine that the image data is in the transmission state when the amplitude difference is less than a preset amplitude threshold, and to determine that the image data is not in the transmission state when the amplitude difference is greater than the preset amplitude threshold.

[0138] Optionally, the matching submodule includes:

[0139] The third determining unit is used to determine the absolute value of the comparison difference;

[0140] The calling unit is used to call a preset multi-level operating frequency strategy table, which includes multiple numerical ranges set according to the numerical value, and decoding chip operating frequency reduction strategies associated with and mapped to the numerical ranges.

[0141] The fourth determining unit is used to determine the numerical range into which the absolute value falls as the target range, and to match the corresponding decoding chip operating frequency reduction strategy based on the target range. The decoding chip operating frequency reduction strategy is used to execute the corresponding operating frequency reduction operation of the decoding chip.

[0142] Optionally, the acquisition submodule includes:

[0143] The second generation unit is used to normalize the ambient light intensity number and the decoding chip operating frequency reduction strategy to generate corresponding light intensity parameters and frequency parameters.

[0144] The third generation unit is used to substitute the light intensity parameter and the frequency parameter into a pre-established brightness strategy matching model for weighted averaging to generate a corresponding display brightness adjustment strategy. The display brightness adjustment strategy is used to perform the corresponding brightness adjustment operation of the display screen.

[0145] For specific limitations regarding the pan-tilt-zoom (PTZ) image transmission device, please refer to the limitations regarding the PTZ image transmission method described above, which will not be repeated here. Each module in the aforementioned PTZ image transmission device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device, or stored in the memory of a computer device as software, so that the processor can call and execute the operations corresponding to each module.

[0146] In one embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be as follows: Figure 9 As shown, the computer device includes a processor, memory, network interface, and database connected via a system bus. The processor provides computing and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system, computer programs, and database. The internal memory provides an environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The network interface is used for communication with external terminals via a network connection. When the computer program is executed by the processor, it implements a pan-tilt-zoom (PTZ) image transmission method for the device.

[0147] In one embodiment, a computer device is provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to perform the following steps:

[0148] S10. Based on the AI ​​tracking camera, capture images and convert the images into corresponding digital signals;

[0149] S20. Based on the USB interface, transmit the digital signal to the receiving port inside the handheld gimbal;

[0150] S30. The digital signal received through the receiving port is decoded by the decoding chip to generate corresponding decoded image information;

[0151] S40. Send the decoded image information to the screen control module for rendering, and display the corresponding rendering result on the built-in screen included in the screen control module.

[0152] S50. Determine whether the USB interface is in a transmission state and generate a corresponding energy management strategy.

[0153] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon, the computer program performing the following steps when executed by a processor:

[0154] S10. Based on the AI ​​tracking camera, capture images and convert the images into corresponding digital signals;

[0155] S20. Based on the USB interface, transmit the digital signal to the receiving port inside the handheld gimbal;

[0156] S30. The digital signal received through the receiving port is decoded by the decoding chip to generate corresponding decoded image information;

[0157] S40. Send the decoded image information to the screen control module for rendering, and display the corresponding rendering result on the built-in screen included in the screen control module.

[0158] S50. Determine whether the USB interface is in a transmission state and generate a corresponding energy management strategy.

[0159] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the embodiments of the above methods. Any references to memory, storage, databases, or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), RAMbus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0160] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is used as an example. In practical applications, the above functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above.

[0161] The above-described embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. A method for transmitting images from a PTZ camera to a device, characterized in that, A method for transmitting images from a handheld gimbal to a device includes: The handheld gimbal is equipped with a decoding chip, a screen control module, and an AI tracking camera connected via a USB interface. Based on the AI ​​tracking camera, images are captured and the images are converted into corresponding digital signals; Based on the USB interface, the digital signal is transmitted to the receiving port inside the handheld gimbal; The decoding chip decodes the digital signal received through the receiving port to generate corresponding decoded image information. The decoded image information is sent to the screen control module for rendering, and the corresponding rendering result is displayed on the built-in screen included in the screen control module. Determine whether the USB interface is in a transmission state and generate a corresponding energy management strategy; In the step of determining whether the USB interface is in a transmission state and generating a corresponding power management strategy, the power management strategy includes a decoding chip operating frequency reduction strategy, a display brightness adjustment strategy, and a target adjustment strategy. The target adjustment strategy is used to switch to a preset target decoding chip operating frequency and target display brightness level. The step of determining whether the USB interface is in a transmission state and generating a corresponding power management strategy includes the following steps: Detect whether the transmission lines in the USB interface are in a signal active state; If the transmission line in the USB interface is in a signal active state, the duration of the signal active state is recorded, and the difference between the duration of the state and a preset state threshold is used to determine whether the image data is in a transmission state. If the image data is not in a transmission state, a corresponding strategy for reducing the operating frequency of the decoding chip is matched based on the comparison difference. Acquire ambient light intensity data, and match the corresponding display brightness adjustment strategy based on the ambient light intensity data and the decoding chip's operating frequency reduction strategy; If the image data is in the transmission state and the AI ​​tracking camera is detected to be active, then switch to the pre-set target decoding chip operating frequency and target display brightness level.

2. The method for transmitting images from a PTZ camera to a device according to claim 1, characterized in that, The step of recording the duration of the signal activity state and determining whether the image data is in a transmission state based on the difference between the duration and a preset state threshold includes: Determine the sampling period; Multiple consecutive sampling periods that are in a signal active state are added together to generate the corresponding state duration; Calculate the difference between the duration of the state and the preset state threshold; When the comparison difference is greater than or equal to zero, it is determined that the image data is in the transmission state; When the comparison difference is less than zero, it is determined that the image data is not in the transmission state.

3. The method for transmitting images from a PTZ camera to a device according to claim 2, characterized in that, The step of determining that the image data is in a transmission state when the comparison difference is greater than or equal to zero includes: When the comparison difference is greater than or equal to zero, the corresponding comparison difference in multiple historical sampling periods is obtained; The comparison mean is calculated based on the comparison differences corresponding to multiple historical sampling periods; Calculate the magnitude difference between the comparison difference and the comparison mean; When the amplitude difference is less than a preset amplitude threshold, the image data is determined to be in a transmission state; when the amplitude difference is greater than the preset amplitude threshold, the image data is determined not to be in a transmission state.

4. The method for transmitting images from a PTZ camera to a device according to claim 1, characterized in that, The step of matching the corresponding decoding chip operating frequency reduction strategy based on the comparison difference includes: Determine the absolute value of the comparison difference; The system invokes a pre-established multi-level operating frequency strategy table, which includes multiple numerical ranges set according to the numerical values, and decoding chip operating frequency reduction strategies associated with and mapped to the numerical ranges. The numerical range into which the absolute value falls is determined as the target range, and a corresponding decoding chip operating frequency reduction strategy is matched based on the target range. The decoding chip operating frequency reduction strategy is used to execute the corresponding operating frequency reduction operation of the decoding chip.

5. The method for transmitting images from a PTZ camera to a device according to claim 1, characterized in that, The step of matching the corresponding display brightness adjustment strategy based on the ambient light intensity data and the decoding chip operating frequency reduction strategy includes: The ambient light intensity number and the decoding chip operating frequency reduction strategy are normalized to generate corresponding light intensity parameters and frequency parameters. The light intensity parameter and the frequency parameter are substituted into a pre-established brightness strategy matching model for weighted averaging to generate a corresponding display brightness adjustment strategy. The display brightness adjustment strategy is used to perform the corresponding brightness adjustment operation of the display screen.

6. A pan-tilt-zoom (PTZ) image transmission device, characterized in that, An image transmission device for a handheld gimbal, the handheld gimbal being equipped with a decoding chip and a screen control module, as well as an AI tracking camera connected via a USB interface, includes: The conversion module is used to capture images based on the AI ​​tracking camera and convert the images into corresponding digital signals; A transmission module is used to transmit the digital signal to the receiving port inside the handheld gimbal via the USB interface; The generation module is used to decode the digital signal received through the receiving port using the decoding chip, and generate corresponding decoded image information; The rendering module is used to send the decoded image information to the screen control module for rendering, and to display the corresponding rendering result on the built-in screen included in the screen control module. The determination module is used to determine whether the USB interface is in a transmission state and generate a corresponding energy management strategy. In the judgment module, the energy management strategy includes a decoding chip operating frequency reduction strategy, a display brightness adjustment strategy, and a target adjustment strategy. The target adjustment strategy is used to switch to a preset target decoding chip operating frequency and target display brightness level. The judgment module also includes: The first detection submodule is used to detect whether the transmission line in the USB interface is in a signal active state. The recording submodule is used to record the duration of the signal activity state if the transmission line in the USB interface is in a signal activity state, and to determine whether the image data is in a transmission state based on the difference between the duration of the state and a preset state threshold. The matching submodule is used to match the corresponding decoding chip operating frequency reduction strategy based on the comparison difference if the image data is not in the transmission state. The acquisition submodule is used to acquire ambient light intensity data and match the corresponding display brightness adjustment strategy based on the ambient light intensity data and the decoding chip's operating frequency reduction strategy. The second detection submodule is used to switch to the pre-set target decoding chip operating frequency and target display brightness level if the image data is in the transmission state and the AI ​​tracking camera is detected to be in the active state.

7. The pan-tilt-zoom (PTZ) image transmission device according to claim 6, characterized in that, The judgment module also includes: The acquisition submodule is used to obtain the data transmission duration range corresponding to different image acquisition tasks; The first determining submodule is used to determine multiple candidate thresholds based on each of the data transmission duration intervals; The statistics submodule is used to calculate the misjudgment rate of the candidate threshold in historical task scenarios, and determine the candidate threshold with the lowest misjudgment rate as the preset state threshold. The recording submodule includes: The second determining unit is used to determine the sampling period; The first generation unit is used to add together multiple consecutive sampling periods that are in a signal active state to generate the corresponding state duration. The calculation unit is used to calculate the comparison difference between the state duration and the preset state threshold. The first judgment unit is used to determine that the image data is in the transmission state when the comparison difference is greater than or equal to zero. The second judgment unit is used to determine that the image data is not in the transmission state when the comparison difference is less than zero. The first determination unit includes: The acquisition subunit is used to acquire the corresponding comparison difference in multiple historical sampling periods when the comparison difference is greater than or equal to zero. The first calculation subunit is used to calculate the comparison mean based on the corresponding comparison differences in multiple historical sampling periods; The second calculation subunit is used to calculate the magnitude difference between the comparison difference and the comparison mean; The judgment subunit is used to determine that the image data is in the transmission state when the amplitude difference is less than a preset amplitude threshold, and to determine that the image data is not in the transmission state when the amplitude difference is greater than the preset amplitude threshold. The matching submodule includes: The third determining unit is used to determine the absolute value of the comparison difference; The calling unit is used to call a preset multi-level operating frequency strategy table, which includes multiple numerical ranges set according to the numerical value, and decoding chip operating frequency reduction strategies associated with and mapped to the numerical ranges. The fourth determining unit is used to determine the numerical range into which the absolute value falls as the target range, and to match the corresponding decoding chip operating frequency reduction strategy based on the target range. The decoding chip operating frequency reduction strategy is used to execute the corresponding operating frequency reduction operation of the decoding chip. The acquisition submodule includes: The second generation unit is used to normalize the ambient light intensity number and the decoding chip operating frequency reduction strategy to generate corresponding light intensity parameters and frequency parameters. The third generation unit is used to substitute the light intensity parameter and the frequency parameter into a pre-established brightness strategy matching model for weighted averaging to generate a corresponding display brightness adjustment strategy. The display brightness adjustment strategy is used to perform the corresponding brightness adjustment operation of the display screen.

8. A computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the steps of the gimbal-to-device image transmission method as described in any one of claims 1 to 5.

9. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements the steps of the gimbal-to-device image transmission method as described in any one of claims 1 to 5.

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