Video transmission method, robot, medium, and product

Abstract

Embodiments of the present disclosure provide a video transmission method, a robot, a medium and a product. The method comprises: collecting area video information by a plurality of video acquisition modules of a robot, determining module connection information corresponding to each video acquisition module, determining target video information corresponding to the video acquisition module according to the module connection information and the area video information, and transmitting the target video information to a master module of the robot according to the module connection information; wherein at least two video acquisition modules are connected in series through a coaxial cable; receiving the target video information through the master module, analyzing the target video information to obtain the area video information corresponding to the target video information, and determining acquisition environment information of the robot according to a plurality of area video information. Not only the complexity of wiring is reduced, but also the timely transmission of video information is ensured.

Description

Technical Field

[0001] This disclosure relates to the field of robotics, and more particularly to a video transmission method, robot, medium, and product. Background Technology

[0002] With the development of computer technology, robotics has made significant progress, especially in environmental information acquisition. Robots integrate multiple video acquisition modules to obtain information about their surroundings, such as obstacle locations, pedestrian movement, and lighting conditions. This information is crucial for the robot's navigation, obstacle avoidance, monitoring, and interaction functions. Therefore, a robot's ability to acquire environmental information is essential for its intelligence level and task execution efficiency.

[0003] In related technologies, multiple video acquisition modules on a robot are typically connected to the main control module via a point-to-point connection, meaning each video acquisition module requires an independent communication line to establish a connection with the main control module. Since robots usually require multiple joints to coordinate in different poses to perform target operations, the layout (wiring) of the communication lines needs to consider the robot's structural design to ensure smooth operation. Therefore, this connection method presents significant challenges to the wiring of multiple video acquisition modules and the main control module. For example, video acquisition modules located on robot limbs often need to pass through robot joints, where wiring space is very limited. This greatly increases the complexity of the wiring, reduces the flexibility and scalability of robot communication, and may also introduce potential fault risks due to the excessive number of connection points. Summary of the Invention

[0004] This disclosure provides a video transmission method, robot, medium, and product that not only reduces the complexity of internal wiring in the robot but also ensures timely transmission and processing of video information.

[0005] In a first aspect, embodiments of this disclosure provide a video transmission method, the method comprising:

[0006] The robot uses multiple video acquisition modules to collect regional video information, determines the module connection information corresponding to each video acquisition module, determines the target video information corresponding to the video acquisition module based on the module connection information and the regional video information, and transmits the target video information to the robot's main control module based on the module connection information; wherein at least two video acquisition modules are cascaded together via coaxial cables;

[0007] The main control module receives the target video information and parses it to obtain the area video information corresponding to the target video information. Based on the multiple area video information, the robot's acquisition environment information is determined.

[0008] Secondly, this disclosure also provides a robot, which includes: multiple video acquisition modules and a main control module; wherein,

[0009] The video acquisition module is used to acquire regional video information, determine the module connection information corresponding to each video acquisition module, determine the target video information corresponding to the video acquisition module based on the module connection information and the regional video information, and transmit the target video information to the robot's main control module based on the module connection information; wherein, at least two video acquisition modules are cascaded together via a coaxial cable;

[0010] The main control module is used to receive the target video information, parse the target video information to obtain the area video information corresponding to the target video information, and determine the robot's acquisition environment information based on multiple areas of video information.

[0011] Thirdly, embodiments of this disclosure also provide an electronic device, the electronic device comprising:

[0012] One or more processors;

[0013] Storage device for storing one or more programs.

[0014] When the one or more programs are executed by the one or more processors, the one or more processors implement the video transmission method as described in any of the embodiments of this disclosure.

[0015] Fourthly, embodiments of this disclosure also provide a storage medium containing computer-executable instructions, which, when executed by a computer processor, are used to perform the video transmission method as described in any of the embodiments of this disclosure.

[0016] Fifthly, embodiments of this disclosure also provide a computer program product, including a computer program that, when executed by a processor, implements the video transmission method as described in any of the embodiments of this disclosure.

[0017] The technical solution of this disclosure embodiment uses multiple video acquisition modules of a robot to collect regional video information, determines the module connection information corresponding to each video acquisition module, determines the target video information corresponding to each video acquisition module based on the module connection information and the regional video information, and transmits the target video information to the robot's main control module according to the module connection information; wherein, at least two video acquisition modules are cascaded together via coaxial cables. In this technical solution, using coaxial cables to cascade multiple video acquisition modules not only avoids a large number of independent connection lines, but also ensures the transmission performance of the target video information and reduces video transmission latency. Subsequently, the main control module receives the target video information, parses the target video information to obtain the regional video information corresponding to the target video information, and determines the robot's acquisition environment information based on multiple regional video information. This enables comprehensive processing of regional video information collected by multiple video acquisition modules, thereby more accurately determining the acquisition environment information to assist in the control of the robot. The technical solution of this disclosure solves the technical problems of wiring difficulties and the ease with which the robot's flexibility is affected by related technologies. It not only reduces the complexity of the robot's internal wiring, but also ensures the timely transmission of video information. Attached Figure Description

[0018] The above and other features, advantages, and aspects of the embodiments of this disclosure will become more apparent from the accompanying drawings and the following detailed description. Throughout the drawings, the same or similar reference numerals denote the same or similar elements. It should be understood that the drawings are schematic, and the originals and elements are not necessarily drawn to scale.

[0019] Figure 1 This is a schematic flowchart of a video transmission method provided in an embodiment of the present disclosure;

[0020] Figure 2A This is a connection diagram of a video acquisition module provided in an embodiment of the present disclosure;

[0021] Figure 2B This is a connection diagram of another video acquisition module provided in an embodiment of the present disclosure;

[0022] Figure 3 This is a schematic diagram of the structure of a video acquisition module suitable for a video transmission method, provided in an embodiment of the present disclosure;

[0023] Figure 4 A flowchart illustrating an optional embodiment of a video transmission method provided in this disclosure;

[0024] Figure 5 A flowchart illustrating another video transmission method provided in this embodiment of the present disclosure;

[0025] Figure 6 A flowchart illustrating another video transmission method provided in this embodiment of the present disclosure;

[0026] Figure 7 This is a schematic diagram of the structure of a video transmission device provided in an embodiment of the present disclosure;

[0027] Figure 8 This is a schematic diagram of the structure of an electronic device for implementing an embodiment of the present disclosure. Detailed Implementation

[0028] Embodiments of this disclosure will now be described in more detail with reference to the accompanying drawings. While some embodiments of this disclosure are shown in the drawings, it should be understood that this disclosure can be implemented in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of this disclosure. It should be understood that the accompanying drawings and embodiments of this disclosure are for illustrative purposes only and are not intended to limit the scope of protection of this disclosure.

[0029] It should be understood that the steps described in the method embodiments of this disclosure may be performed in different orders and / or in parallel. Furthermore, the method embodiments may include additional steps and / or omit the steps shown. The scope of this disclosure is not limited in this respect.

[0030] The term "comprising" and its variations as used herein are open-ended inclusions, meaning "including but not limited to". The term "based on" means "at least partially based on". The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments". Definitions of other terms will be given in the description below.

[0031] It should be noted that the concepts of "first" and "second" mentioned in this disclosure are used only to distinguish different devices, modules or units, and are not used to limit the order of functions performed by these devices, modules or units or their interdependencies.

[0032] It should be noted that the terms "a" and "a plurality of" used in this disclosure are illustrative rather than restrictive, and those skilled in the art should understand that, unless otherwise expressly indicated in the context, they should be understood as "one or more".

[0033] The names of messages or information exchanged between multiple devices in the embodiments of this disclosure are for illustrative purposes only and are not intended to limit the scope of such messages or information.

[0034] It is understood that before using the technical solutions disclosed in the various embodiments of this disclosure, users should be informed of the types, scope of use, and usage scenarios of the personal information involved in this disclosure in an appropriate manner in accordance with relevant laws and regulations, and user authorization should be obtained.

[0035] For example, upon receiving a user's active request, a prompt message is sent to the user to explicitly inform them that the requested operation will require the acquisition and use of the user's personal information. This allows the user to independently choose whether to provide personal information to the software or hardware, such as the electronic device, application, server, or storage medium performing the operations of this disclosed technical solution, based on the prompt message.

[0036] As an optional but non-limiting implementation, in response to a user's active request, sending a prompt message to the user can be done via a pop-up window, where the prompt message can be presented in text format. Furthermore, the pop-up window can also include a selection control allowing the user to choose "agree" or "disagree" to provide personal information to the electronic device.

[0037] It is understood that the above notification and user authorization process are merely illustrative and do not constitute a limitation on the implementation of this disclosure. Other methods that comply with relevant laws and regulations may also be applied to the implementation of this disclosure.

[0038] It is understood that the data involved in this technical solution (including but not limited to the data itself, the acquisition or use of the data) shall comply with the requirements of relevant laws, regulations and related provisions.

[0039] Figure 1 This is a flowchart illustrating a video transmission method provided in an embodiment of this disclosure. This embodiment is applicable to scenarios involving video transmission. The method can be executed by a video transmission device, which can be implemented in software and / or hardware, optionally through an electronic device, such as a mobile terminal, PC, or server. Figure 1 As shown, the method in this embodiment may specifically include:

[0040] S110. Using multiple video acquisition modules of the robot, regional video information is acquired, the module connection information corresponding to each video acquisition module is determined, the target video information corresponding to the video acquisition module is determined based on the module connection information and the regional video information, and the target video information is transmitted to the robot's main control module based on the module connection information; wherein, at least two video acquisition modules are cascaded together via coaxial cables.

[0041] The video acquisition module can be used to acquire video information of the area corresponding to the video acquisition module to obtain the area video information corresponding to the video acquisition module. Optionally, the video acquisition module may include a camera. In this embodiment, the robot can be pre-configured with multiple video acquisition modules to meet its needs in various application scenarios. The multiple video acquisition modules can be pre-arranged at different positions on the robot according to actual needs to ensure that each video acquisition module has a suitable viewing angle and shooting range. In this embodiment, pre-arranging multiple video acquisition modules at different positions on the robot can achieve all-round, multi-angle environmental perception, enabling the robot to understand the surrounding environment more three-dimensionally, which helps the robot make more intelligent and accurate decisions in complex environments, such as obstacle avoidance, path planning, or pose control. The video acquisition modules in the robot can be distributed in the robot's head, arms, chassis, etc. Area video information can be understood as the information obtained by the video acquisition module acquiring video data of the area corresponding to the video acquisition module. Area video information may include dynamic and static image content within the area corresponding to the video acquisition module. In this embodiment, the correspondence between the video acquisition module and the area video information to be transmitted can be one-to-one. In this embodiment of the invention, multiple video acquisition modules of the robot can acquire regional video information according to the clock signal transmitted by the robot's main control module. This ensures that multiple video acquisition modules acquire regional video information under the same clock, avoiding time misalignment of video information, ensuring the continuity and consistency of video information, and facilitating subsequent video information analysis and processing.

[0042] In this embodiment, at least two video acquisition modules in the robot are cascaded together via coaxial cables. This means that at least two video acquisition modules in the robot are cascaded together using coaxial cables. This connection method utilizes the transmission characteristics of coaxial cables to connect multiple video acquisition modules sequentially, forming a continuous transmission link. In this embodiment, using coaxial cables to connect the video acquisition modules not only ensures signal quality but also reduces signal delay during transmission, ensuring timely transmission and processing of video information, thereby improving the robot's response speed and accuracy. In this embodiment, the cascaded connection relationship of multiple video acquisition modules can be determined according to the positions of the video acquisition modules on the robot. For example, video acquisition modules located on different moving joints of the robot can have their cascading method determined based on the connection relationship between the moving joints. For example, the robot's video acquisition modules may include video acquisition module A1, video acquisition module A2, and video acquisition module A3. Video acquisition module A1 is located on joint 1 of the robot, video acquisition module A2 is located on joint 2 of the robot, and video acquisition module A3 is located on joint 3 of the robot. In this configuration, joint 1 is connected to joint 2, and joint 2 is connected to joint 3. Therefore, based on the connection relationships of joints 1, 2, and 3 in the robot, the connection relationships of the video acquisition modules in the robot can be as follows: video acquisition module A1 is connected to video acquisition module A2, and video acquisition module A2 is connected to video acquisition module A3. In this embodiment, the target video information of a subsequent video acquisition module in a cascaded configuration can be transmitted to the main control module through its connected preceding video acquisition module.

[0043] In this embodiment of the disclosure, when at least two video acquisition modules in the robot are cascaded together via a coaxial cable, there are two ways to connect multiple video acquisition modules in the robot. As an optional implementation in this embodiment, all video acquisition modules in the robot can be connected in series. See [link to relevant documentation]. Figure 2A The robot may include multiple video acquisition modules, such as video acquisition module B1, video acquisition module B2, video acquisition module B3, and video acquisition module B4. Video acquisition modules B1, B2, B3, and B4 are connected in series, and video acquisition module B4 is connected to the main control module. As another optional implementation in this disclosure, the connection method of the multiple video acquisition modules in the robot may include series connection and parallel connection. Continuing with the above example, see... Figure 2BVideo capture modules B1, B2, and B3 are connected in series to form a module combination. Video capture module B4 exists as an independent module, and the module combination consisting of video capture modules B1, B2, and B3 is connected in parallel with video capture module B4.

[0044] The module connection information can be used to locate the video acquisition modules in the robot, determining their position on the link connected to the main control module. In this embodiment, when multiple video acquisition modules are cascaded via coaxial cables, the main control module can accurately determine the order of the regional video information acquired by each video acquisition module based on the module connection information and regional video information. This avoids subsequent processing errors and performance degradation caused by data disorder, ensuring data integrity and accuracy. In this embodiment, the module connection information can at least describe the connection relationship with the main control module, facilitating the transmission of video information from the video acquisition modules connected to the main control module. In this embodiment, the module connection information may include the number of module connection levels. The number of module connection levels can describe the number of video acquisition modules spaced apart from the main control module on the connection link. For example, video acquisition module C1 is connected to the main control module, video acquisition module C1 is connected to video acquisition module C2, and video acquisition module C2 is connected to video acquisition module C3. Among them, the number of module connection levels for video acquisition module C1 is 0, the number of module connection levels for video acquisition module C2 is 1, and the number of module connection levels for video acquisition module C3 is 2.

[0045] In this embodiment of the disclosure, when the module connection information includes the number of module connection levels, before determining the module connection information corresponding to each of the video acquisition modules, the method may further include: sending cascade test information to multiple video acquisition modules through the robot's main control module, so that the video acquisition modules determine the module connection information corresponding to the video acquisition module based on the cascade test information. The cascade test information can be used to determine the module connection information corresponding to the video acquisition module to obtain the number of module connection levels of the video acquisition module. Continuing the previous example, firstly, the main control module can send cascade test information to video acquisition module C1. After receiving the cascade test information, video acquisition module C1 can set its module connection level to 0. Then, video acquisition module C1 can pass the cascade test information to video acquisition module C2. After receiving the cascade test information, video acquisition module C2 can increase its module connection level by 1, i.e., set its module connection level to 1. Finally, video acquisition module C2 can pass the cascade test information to video acquisition module C3. After receiving the cascade test information, the video acquisition module C3 can increase the number of module connection levels of the video acquisition module C2 by 1, that is, set the number of module connection levels of the video acquisition module C3 to 3.

[0046] In this embodiment of the disclosure, determining the target video information corresponding to the video acquisition module based on the module connection information and the regional video information may include: when the module connection information is a first preset information, generating target video information corresponding to the video acquisition module based on the regional video information acquired by the video acquisition module; wherein, the first preset information can at least be used to indicate that there is no cascaded video acquisition module on the side of the connection link with the main control module away from the main control module; and / or, when the module connection information is a second preset information, receiving the target video information of the video acquisition module associated with it, and generating target video information corresponding to the video acquisition module based on the regional video information acquired by the video acquisition module and the received target video information; wherein, the second preset information can be used to indicate that there is a cascaded video acquisition module on the side of the connection link with the main control module away from the main control module.

[0047] In this embodiment, when the module connection information is a first preset information, target video information corresponding to the video acquisition module is generated based on the regional video information acquired by the video acquisition module. Specifically, the regional video information acquired by the video acquisition module is encoded to obtain encoded video information; the encoded video information can then be used as the target video information corresponding to the video acquisition module. In this embodiment, when the module connection information is a second preset information, the target video information of the associated video acquisition module can be received. Then, the regional video information acquired by the video acquisition module is encoded to obtain encoded video information. The encoded video information and the received target video information can then be combined and encoded. The combined encoded video information can then be used as the target video information corresponding to the video acquisition module.

[0048] Continuing with the previous example, the module connection information of video acquisition module C3 is the first preset information, and the module connection information of video acquisition modules C2 and C1 is the second preset information. The area video information acquired by video acquisition module C3 can be area video information 1, the area video information acquired by video acquisition module C2 can be area video information 2, and the area video information acquired by video acquisition module C1 can be area video information 3. After video acquisition module C3 acquires area video information 1, it can generate target video information 1 corresponding to video acquisition module C3 based on area video information 1, and send target video information 1 to video acquisition module C2. After video acquisition module C2 receives target video information 1, it can generate target video information 2 corresponding to video acquisition module C2 based on target video information 1 and area video information 2, and send target video information 2 to video acquisition module C1. After video acquisition module C1 receives target video information 2, it can generate target video information 3 corresponding to video acquisition module C1 based on target video information 2 and area video information 3, and send target video information 3 to the main control module.

[0049] S120. The main control module receives the target video information and parses the target video information to obtain the area video information corresponding to the target video information, and determines the robot's acquisition environment information based on multiple areas of video information.

[0050] The environmental information collected can be the robot's environment information obtained from regional video information from multiple video acquisition modules. Specifically, the main control module receives target video information transmitted from the video acquisition modules connected to it. Then, the main control module decodes the target video information to obtain the corresponding regional video information. After decoding the target video information, regional video information corresponding to each video acquisition module is obtained, resulting in multiple regional video information sets. The robot's environmental information can then be determined based on this regional video information.

[0051] Following the previous example, after the main control module receives the target video information 3 sent by the video acquisition module 3, it can parse the target video information 3. This allows it to obtain the area video information 3 acquired by the video acquisition module 3 and the received target video information 2. Then, the target video information 2 can be parsed. This allows it to obtain the area video information 2 acquired by the video acquisition module 2 and the received target video information 1. After obtaining the target video information 1, it can be parsed to obtain the area video information 1 acquired by the video acquisition module 1. That is, area video information 1, area video information 2, and area video information 3 are obtained.

[0052] In this embodiment, there are several ways to determine the robot's acquisition environment information based on multiple areas of video information. For example, a target detection algorithm can be used to process the multiple areas of video information to obtain the robot's acquisition environment information. Alternatively, image stitching technology can be used to stitch data frames from multiple areas of video information into a panoramic image or video, thereby obtaining a more comprehensive environmental view, i.e., the robot's acquisition environment information. Alternatively, environmental features can be extracted from multiple areas of video information, and the robot's acquisition environment information can be obtained based on the extracted environmental features. Specifically, extracting environmental features from multiple areas of video information and obtaining the robot's acquisition environment information based on the extracted environmental features can be achieved by using a deep learning model to identify environmental features in the area video information, thereby inferring the robot's environmental information.

[0053] In this embodiment of the disclosure, before determining the robot's acquisition environment information based on the multiple areas of video information, the method may further include: sending latency test information to multiple video acquisition modules through the robot's main control module, and receiving latency feedback information corresponding to the latency test information sent by the video acquisition modules; determining the module latency information of the video acquisition modules based on the latency feedback information sent by the video acquisition modules, so as to determine the information acquisition time of the area video information acquired by the video acquisition modules based on the module latency information.

[0054] The latency test information can be understood as information used to test the time spent transmitting data between the main control module and the video acquisition module. Optionally, the latency test information can be a specific signal, or a data packet used to trigger the response of the video acquisition module. Latency feedback information can be understood as information that the video acquisition module needs to send back to the main control module after receiving the latency test information, so that the main control module can promptly know the reception status of the latency test information by the video acquisition module. For example, the latency feedback information may include preset feedback information corresponding to the latency test information, information reception time corresponding to the latency test information, or the time elapsed from receiving the latency test information to sending the latency feedback information by a single video acquisition module. Module latency information can be understood as the total time elapsed from the main control module sending the latency test information to receiving the latency feedback information from the video acquisition module. In other words, module latency information can be understood as the time spent on data transmission during data transmission between the main control module and the video acquisition module. Generally, module latency information can be the time difference between the data reception time and the data transmission time of the same transmitted data. Information acquisition time can be understood as the time it takes for the video acquisition module to acquire video information from the area.

[0055] In this embodiment of the disclosure, there are multiple ways to send latency test information to multiple video acquisition modules through the robot's main control module and receive latency feedback information corresponding to the latency test information sent by the video acquisition modules.

[0056] As an optional implementation in this disclosure, when the main control module sends latency test information to multiple video acquisition modules, the transmission time of the latency test information can be determined. When the video acquisition module receives the latency test information, the reception time of the latency test information can be determined. Then, the video acquisition module can send the reception time as latency feedback information to the main control module, so that the main control module can determine the information transmission latency based on the transmission time of the latency test information and the latency test information received by the video acquisition module.

[0057] As another optional implementation in this disclosure, when the main control module sends latency test information to multiple video acquisition modules, the transmission time of the latency test information can be determined. When the video acquisition module receives the latency test information, it can generate latency feedback information based on the latency test information and send the latency feedback information to the main control module. After the main control module receives the latency feedback information, it can determine the reception time of the latency feedback information, so that the main control module can determine the information transmission latency based on the transmission time of the latency test information and the reception time of the latency feedback information.

[0058] As another optional implementation in this disclosure, when the main control module sends latency test information to multiple video acquisition modules, the sending time of the latency test information can be determined. When the video acquisition module receives the latency test information, the receiving time of the latency test information can be determined and added to the latency test information. Then, the latency test information with the added receiving time can be fed back to the main control module as latency feedback information, so that the main control module can calculate the information transmission time of the video acquisition modules based on the sending and receiving times in the received latency feedback information. Furthermore, the main control module can eliminate latency based on the message transmission times of multiple video acquisition modules.

[0059] As another optional implementation in this disclosure, when the main control module sends latency test information to multiple video acquisition modules, the transmission time of the latency test information can be added to the latency test information so that the video acquisition modules can obtain the transmission time of the latency test information sent by the main control module. When the video acquisition module receives the latency test information, it can generate latency feedback information based on the latency test information, send the latency feedback information to the main control module, and determine the transmission time of the latency feedback information. Furthermore, the video acquisition module can eliminate latency based on the transmission time added to the latency test information and the transmission time of the latency feedback information.

[0060] In this embodiment of the disclosure, the main control module can more accurately determine the information acquisition time of the area video information acquired by each video acquisition module based on the module latency information of each video acquisition module. This allows for adjustments to be made based on the latency information of the video acquisition modules when it is necessary to synchronize the data of multiple video acquisition modules, thereby ensuring the accuracy and consistency of the data.

[0061] In this embodiment, the acquisition duration or transmission time interval of the area video information acquired by multiple video acquisition modules can be greater than or equal to the sum of the module delay information of the video acquisition modules. The advantage of this configuration is that it ensures that each transmission contains only one segment of area video information to be transmitted, thereby guaranteeing that multiple areas of video information in the target video information are acquired at the same time point.

[0062] As an optional implementation of this disclosure, see [link to relevant documentation]. Figure 3 The video acquisition module may include an image acquisition unit, a data encoding / decoding unit, a synchronization circuit, a power over coaxia (POC) circuit, and a voltage regulator circuit. The image acquisition unit, the synchronization circuit, and the coaxia power supply circuit are respectively connected to the data encoding / decoding unit, and the voltage regulator circuit is connected to the coaxia power supply circuit. The image acquisition unit can be used to capture images of the area corresponding to the image acquisition unit to acquire regional image information of the area. Optionally, the image acquisition unit can be a camera. The data encoding / decoding unit can be used to encode the target video information received by the video acquisition module and the regional video information acquired by the video acquisition module, and to encode the target video information corresponding to the video acquisition module into a format compatible with coaxial cable transmission. Optionally, the data encoding / decoding unit can be a programmable array logic chip. The synchronization circuit can be used to process the delay test information sent by the main control module, generate delay feedback information related to the delay test information, and feed the delay feedback information back to the main control module. The coaxial power supply circuit can be used to transmit target video information corresponding to the video acquisition module and to send DC power to the local voltage regulator circuit to power other units. The voltage regulator circuit can be used to provide power to each unit in the video acquisition module. The main control module includes a coaxial power supply circuit, a data encoding / decoding unit, and a video processing unit. It is understood that the coaxial power supply circuit in the main control module can be used to receive information fed back from the video acquisition module and forward it to the data encoding / decoding unit. The data encoding / decoding unit in the main control module can be used to decode the received information fed back from the video acquisition module and send the decoded information to the video processing unit. The video processing unit can be used to process the decoded information to obtain the acquisition environment information of the surgical robot.

[0063] Based on the above embodiments, see, for example, the following: Figure 4In the surgical robot, the main control module and video acquisition module D3 are connected. Video acquisition modules D1, D2, and D3 are cascaded together via coaxial cables. Video acquisition module D1 may include an image acquisition unit D11, a data encoding / decoding unit D12, a synchronization circuit D13, a coaxial power supply circuit D14, and a voltage regulator circuit D15. Video acquisition module D2 may include an image acquisition unit D21, a data encoding / decoding unit D22, a synchronization circuit D23, a coaxial power supply circuit D24, and a voltage regulator circuit D25. Video acquisition module D3 may include an image acquisition unit D31, a data encoding / decoding unit D32, a synchronization circuit D33, a coaxial power supply circuit D34, and a voltage regulator circuit D35. Video acquisition modules D1, D2, and D3 are each connected via their respective coaxial power supply circuits.

[0064] Specifically, the main control module can send video transmission commands, including clock signals, to video acquisition modules D1, D2, and D3, so that image acquisition units D11, D21, and D31 respectively acquire area video information X1, area video information X2, and area video information X3. Then, image acquisition unit D11 can send area video information X1 to data encoding / decoding unit D12 to obtain target video information Y1. Subsequently, data encoding / decoding unit D12 can send target video information Y1 to coaxial power supply circuit D14, which then transmits it to coaxial power supply circuit D24. After receiving target video information Y1, coaxial power supply circuit D24 can forward it to data encoding / decoding unit D22. After receiving the target video information Y1, the data encoding and decoding unit D22 can encode the area video information X2 and the target video information Y1 to obtain the target video information Y2, and send the target video information Y2 to the coaxial power supply circuit D24 so that the target video information Y2 can be transmitted to the coaxial power supply circuit D34 through the coaxial power supply circuit D24.

[0065] After the coaxial power supply circuit D34 receives the target video information Y2, it can send the target video information Y2 to the data encoding and decoding unit D32. The data encoding and decoding unit D32 then encodes the area video information X3 sent by the image acquisition unit D31 and the target video information Y2 to obtain the target video information Y3. After the target data encoding and decoding unit D32 generates the target video information Y3, it can send the target video information Y3 to the coaxial power supply circuit D34, which then sends it to the coaxial power supply circuit in the main control module. After the coaxial power supply circuit in the main control module receives the target video information Y3, it can send it to the data encoding and decoding unit in the main control module. The data encoding and decoding unit then decodes the target video information Y3 to obtain the area video information X1, area video information X2, and area video information X3 acquired by the image acquisition units D11, D21, and D31, respectively. Then, the regional video information X1, regional video information X2, and regional video information X3 can be sent to the video processing unit in the main control module, so that the video processing unit can process the regional video information X1, regional video information X2, and regional video information X3 to obtain the acquisition environment information of the surgical robot.

[0066] The technical solution of this disclosure embodiment uses multiple video acquisition modules of a robot to collect regional video information, determines the module connection information corresponding to each video acquisition module, determines the target video information corresponding to each video acquisition module based on the module connection information and the regional video information, and transmits the target video information to the robot's main control module according to the module connection information; wherein, at least two video acquisition modules are cascaded together via coaxial cables. In this technical solution, using coaxial cables to cascade multiple video acquisition modules not only avoids a large number of independent connection lines, but also ensures the transmission performance of the target video information and reduces video transmission latency. Subsequently, the main control module receives the target video information, parses the target video information to obtain the regional video information corresponding to the target video information, and determines the robot's acquisition environment information based on multiple regional video information. This enables comprehensive processing of regional video information collected by multiple video acquisition modules, thereby more accurately determining the acquisition environment information to assist in the control of the robot. The technical solution of this disclosure solves the technical problems of wiring difficulties and the ease with which the robot's flexibility is affected by related technologies. It not only reduces the complexity of the robot's internal wiring, but also ensures the timely transmission of video information.

[0067] Figure 5This is a flowchart illustrating another video transmission method provided in this embodiment. Based on the above embodiments, this embodiment further refines the method of generating target video information corresponding to the video acquisition module based on the regional video information acquired by the video acquisition module and the received target video information. Optionally, generating target video information corresponding to the video acquisition module based on the regional video information acquired by the video acquisition module and the received target video information includes: combining the regional video information acquired by the video acquisition module and the received target video information according to a preset combination method to obtain the target video information corresponding to the video acquisition module. For detailed implementation, please refer to the description of this embodiment. Technical features that are the same as or similar to those in the foregoing embodiments will not be repeated here. Figure 5 As shown, the method in this embodiment may specifically include:

[0068] S210. Using multiple video acquisition modules of the robot, regional video information is acquired, and module connection information corresponding to each video acquisition module is determined. If the module connection information is a second preset information, the target video information of the associated video acquisition module is received. The regional video information acquired by the video acquisition module is combined with the received target video information according to a preset combination method to obtain the target video information corresponding to the video acquisition module. The target video information is then transmitted to the robot's main control module according to the module connection information.

[0069] At least two of the video acquisition modules are cascaded together via a coaxial cable. The second preset information indicates that a cascaded video acquisition module exists on the side of the connection link between the video acquisition module and the main control module, away from the main control module. The preset combination method can be understood as a pre-set method for combining the regional video information acquired by the video acquisition module with the received target video information. In this embodiment, the preset combination method can be set according to actual needs and is not specifically limited herein.

[0070] As an optional implementation in this disclosure, combining the regional video information acquired by the video acquisition module with the received target video information to obtain the target video information corresponding to the video acquisition module may include: first encoding the regional video information acquired by the video acquisition module to obtain encoded video information; then combining the encoded video information with the received target video information to obtain combined video information. Finally, performing overall encoding processing on the combined video information to obtain the target video information corresponding to the video acquisition module.

[0071] As another optional implementation in this disclosure, combining the regional video information acquired by the video acquisition module with the received target video information to obtain the target video information corresponding to the video acquisition module may include: adding an information start marker and an information end marker to the information start position and information end position of the regional video information acquired by the video acquisition module, respectively, to obtain video information with added markers. Then, the video information with added markers and the received target video information can be combined to obtain combined video information. Thus, the combined video information can be used as the target video information corresponding to the video acquisition module. Alternatively, the combined video information can be encoded to obtain the target video information corresponding to the video acquisition module.

[0072] As another optional implementation in this disclosure, combining the regional video information acquired by the video acquisition module with the received target video information to obtain target video information corresponding to the video acquisition module may include: parsing the received target video information to obtain multiple virtual video channels; wherein, the multiple virtual video channels include at least a first video channel with added regional video information corresponding to the received target video information and a second video channel corresponding to the regional video information acquired by the video acquisition module; regional video information acquired by different video acquisition modules is added to different virtual video channels; filling the second video channel with the regional video information acquired by the video acquisition module; combining the first video channel with the filled second video channel according to a preset combination method to obtain video information to be transmitted; and generating target video information corresponding to the video acquisition module based on the video information to be transmitted.

[0073] The plurality of virtual video channels may include at least a first video channel containing regional video information corresponding to the received target video information and a second video channel corresponding to the regional video information acquired by the video acquisition module. The first video channel can be understood as a data channel for storing the received target video information. The second video channel can be understood as a data channel for storing the regional video information acquired by the video acquisition module. In this embodiment, the regional video information acquired by different video acquisition modules can be added to different virtual video channels. The video information to be transmitted can be understood as the video information obtained by combining the first video channel with the filled second video channel.

[0074] In this embodiment, there are multiple ways to fill the area video information captured by the video acquisition module into the second video channel. For example, a virtual video channel corresponding to the video acquisition module can be determined based on a preset correspondence between the video acquisition module and the virtual video channel, i.e., the second video channel can be determined. After determining the second video channel, the area video information captured by the video acquisition module can be filled into the second video channel. It is understood that one video acquisition module corresponds to one virtual video channel. Alternatively, a virtual video channel without filled information can be determined. A virtual video channel without filled information is selected, and the selected virtual video channel is used as the second video channel, and a channel identifier is added to the second video channel. The channel identifier may include the module identifier of the video acquisition module corresponding to the virtual video channel, and can be used to determine the video acquisition module corresponding to the virtual video channel. In this embodiment, the representation of the channel identifier may include at least one of numbers, letters, or characters. It is understood that the module identifier can be used to partition different video acquisition modules.

[0075] In this embodiment, the first video channel and the filled second video channel are combined according to a preset combination method to obtain the video information to be transmitted. Specifically, this can be achieved by encoding the video information of the filled area in the first video channel and encoding the video information of the filled second video channel. This yields the encoded video information, i.e., the video information to be transmitted. Further, target video information corresponding to the video acquisition module is generated based on the video information to be transmitted. Specifically, after obtaining the video information to be transmitted, the video information to be transmitted can be encoded into information conforming to the information transmission protocol between video acquisition modules, i.e., the target video information is obtained.

[0076] S220. The main control module receives the target video information and parses the target video information to obtain the area video information corresponding to the target video information, and determines the robot's acquisition environment information based on multiple areas of video information.

[0077] The technical solution of this disclosure combines the regional video information acquired by the video acquisition module with the received target video information according to a preset combination method to obtain the target video information corresponding to the video acquisition module. The technical solution of this disclosure realizes the function of combining the received target video information with the acquired regional video information through the video acquisition module.

[0078] Figure 6This is a flowchart illustrating another video transmission method provided in this embodiment. Based on the above embodiments, this embodiment further refines the method of generating target video information corresponding to the video acquisition module based on the regional video information acquired by the video acquisition module. Optionally, generating target video information corresponding to the video acquisition module based on the regional video information acquired by the video acquisition module includes: determining a video transmission channel; wherein the video transmission channel includes multiple virtual video channels, and at least one of the virtual video channels has a blank placeholder added; determining a target video channel corresponding to the regional video information acquired by the video acquisition module from the virtual video channels with the added blank placeholder, and adding the regional video information to the target video channel to obtain target video information corresponding to the video acquisition module. For detailed implementation, please refer to the description of this embodiment. Technical features that are the same as or similar to those in the foregoing embodiments will not be repeated here. Figure 6 As shown, the method in this embodiment may specifically include:

[0079] S310. Using multiple video acquisition modules of the robot, regional video information is acquired, and the module connection information corresponding to each video acquisition module is determined. If the module connection information is a first preset information, a video transmission channel is determined. The video transmission channel includes multiple virtual video channels, and at least one of the virtual video channels contains a blank placeholder.

[0080] At least two of the video acquisition modules are cascaded together via a coaxial cable. The first preset information indicates that no cascaded video acquisition module exists on the side of the connection link with the main control module that is furthest from the main control module. The video transmission channel can be understood as a channel pre-established between the video acquisition modules for information transmission. In this embodiment, the video transmission channel may include multiple virtual video channels. Blank placeholders can be used to indicate that a virtual video channel is not filled with area video information. Blank placeholders may include at least one of numbers, letters, or characters, and are not specifically limited herein; they can be set according to requirements.

[0081] S320. Determine the target video channel corresponding to the area video information acquired by the video acquisition module from the virtual video channels with the added blank placeholders, add the area video information to the target video channel to obtain the target video information corresponding to the video acquisition module, and transmit the target video information to the robot's main control module according to the module connection information.

[0082] The target video channel can be understood as the virtual video channel in the virtual video channel with the added blank placeholder that corresponds to the regional video information acquired by the video acquisition module.

[0083] Specifically, a target video channel corresponding to the area video information acquired by the video acquisition module can be determined from the virtual video channels with added blank placeholders. Then, the area video information can be added to the target video channel. Finally, the target video information corresponding to the video acquisition module can be obtained from the area video information in all virtual video channels. Then, the target video information can be transmitted to the robot's main control module according to the module connection information. Specifically, obtaining the target video information corresponding to the video acquisition module based on the area video information in all virtual video channels can be achieved by encoding the area video information in all virtual video channels.

[0084] In this embodiment of the disclosure, there are multiple ways to determine the target video channel corresponding to the regional video information acquired by the video acquisition module from the virtual video channels with added blank placeholders. As an optional implementation of this embodiment, when there is only one virtual video channel with added blank placeholders, the virtual video channel with added blank placeholders can be determined as the target video channel corresponding to the regional video information acquired by the video acquisition module.

[0085] As another optional implementation of this disclosure, when there are multiple virtual video channels with added blank placeholders, one virtual video channel can be selected from the virtual video channels with added blank placeholders as the target video channel corresponding to the video acquisition module. Specifically, to determine the arrangement order of the virtual video channels with added blank placeholders, the virtual video channel arranged first can be selected as the target video channel corresponding to the video acquisition module; or, one virtual video channel can be randomly selected from multiple virtual video channels with added blank placeholders as the target video channel corresponding to the video acquisition module.

[0086] In this embodiment of the disclosure, after adding the regional video information acquired by the video acquisition module to the virtual video channel with the added blank placeholder, the method may further include: determining the next virtual video channel to be filled among multiple virtual video channels based on the virtual video channel corresponding to the regional video information, and adding a blank placeholder to the virtual video channel. In this embodiment of the disclosure, by pre-setting blank placeholders and immediately determining and preparing the next channel to be filled after processing one virtual video channel, the problem of video information disorder caused by latency differences can be avoided.

[0087] Specifically, after adding the regional video information acquired by the video acquisition module to the virtual video channel with the added blank placeholder, the virtual video channel corresponding to the regional video information can be determined based on the correspondence between the video acquisition module and the virtual video channel. Therefore, based on the virtual video channel corresponding to the regional video information, the next virtual video channel to be filled with regional video information can be determined from among multiple video channels. Then, a blank placeholder can be added to the virtual video channel of the next region to be filled with video information.

[0088] S320. The main control module receives the target video information and parses the target video information to obtain the area video information corresponding to the target video information, and determines the robot's acquisition environment information based on multiple areas of video information.

[0089] The technical solution of this disclosure involves determining a video transmission channel, wherein the video transmission channel includes multiple virtual video channels, and at least one of the virtual video channels has a blank placeholder added; determining a target video channel corresponding to the regional video information acquired by the video acquisition module from the virtual video channels with the added blank placeholder, and adding the regional video information to the target video channel to obtain target video information corresponding to the video acquisition module. This technical solution, by determining the virtual video channel corresponding to the video acquisition module from the virtual video channels with the added blank placeholder to add the regional video information acquired by the video acquisition module, avoids the problem of video information disorder caused by latency differences, ensuring the accuracy of the target video information.

[0090] Figure 7 This is a schematic diagram of the structure of a robot provided in an embodiment of the present disclosure, such as... Figure 7 As shown, the robot includes: multiple video acquisition modules 410 and a main control module 420.

[0091] The video acquisition module 410 is used to acquire regional video information, determine the module connection information corresponding to each video acquisition module, determine the target video information corresponding to the video acquisition module based on the module connection information and the regional video information, and transmit the target video information to the robot's main control module 420 based on the module connection information; wherein at least two video acquisition modules are cascaded together via coaxial cables; the main control module 420 is used to receive the target video information, parse the target video information to obtain the regional video information corresponding to the target video information, and determine the robot's acquisition environment information based on multiple regional video information.

[0092] The technical solution of this disclosure embodiment uses multiple video acquisition modules of a robot to collect regional video information, determines the module connection information corresponding to each video acquisition module, determines the target video information corresponding to each video acquisition module based on the module connection information and the regional video information, and transmits the target video information to the robot's main control module according to the module connection information; wherein, at least two video acquisition modules are cascaded together via coaxial cables. In this technical solution, using coaxial cables to cascade multiple video acquisition modules not only avoids a large number of independent connection lines, but also ensures the transmission performance of the target video information and reduces video transmission latency. Subsequently, the main control module receives the target video information, parses the target video information to obtain the regional video information corresponding to the target video information, and determines the robot's acquisition environment information based on multiple regional video information. This enables comprehensive processing of regional video information collected by multiple video acquisition modules, thereby more accurately determining the acquisition environment information to assist in the control of the robot. The technical solution of this disclosure solves the technical problems of wiring difficulties and the ease with which the robot's flexibility is affected by related technologies. It not only reduces the complexity of the robot's internal wiring, but also ensures the timely transmission of video information.

[0093] Based on any optional technical solution in the embodiments of this disclosure, optionally, the video acquisition module 410 is configured to, when the module connection information is a first preset information, generate target video information corresponding to the video acquisition module based on the regional video information acquired by the video acquisition module; wherein, the first preset information is at least used to indicate that there is no cascaded video acquisition module on the side of the connection link with the main control module away from the main control module; and / or, when the module connection information is a second preset information, receive the target video information of the video acquisition module associated with it, and generate target video information corresponding to the video acquisition module based on the regional video information acquired by the video acquisition module and the received target video information; wherein, the second preset information is used to indicate that there is a cascaded video acquisition module on the side of the connection link with the main control module away from the main control module.

[0094] Based on any optional technical solution in the embodiments of this disclosure, the video acquisition module 410 is optionally used to combine the regional video information acquired by the video acquisition module with the received target video information according to a preset combination method to obtain the target video information corresponding to the video acquisition module.

[0095] Optionally, based on any of the optional technical solutions in the embodiments of this disclosure, the video acquisition module 410 is used to parse the received target video information to obtain multiple virtual video channels; wherein, the multiple virtual video channels include at least a first video channel with added regional video information corresponding to the received target video information and a second video channel corresponding to the regional video information acquired by the video acquisition module; the regional video information acquired by different video acquisition modules is added to different virtual video channels; the regional video information acquired by the video acquisition module is filled into the second video channel, and the first video channel and the filled second video channel are combined according to a preset combination method to obtain video information to be transmitted, and target video information corresponding to the video acquisition module is generated according to the video information to be transmitted.

[0096] Based on any optional technical solution in the embodiments of this disclosure, optionally, the video acquisition module 410 is used to determine a video transmission channel; wherein, the video transmission channel includes multiple virtual video channels, and at least one of the virtual video channels has a blank placeholder added; a target video channel corresponding to the regional video information acquired by the video acquisition module is determined from the virtual video channels with the added blank placeholder, and the regional video information is added to the target video channel to obtain the target video information corresponding to the video acquisition module.

[0097] Based on any optional technical solution in the embodiments of this disclosure, the video acquisition module 410 is optionally further configured to, after adding the regional video information acquired by the video acquisition module to the virtual video channel with the added blank placeholder, determine the next virtual video channel to be filled among multiple virtual video channels according to the virtual video channel corresponding to the regional video information, and add a blank placeholder to the virtual video channel.

[0098] Based on any optional technical solution in the embodiments of this disclosure, the module connection information includes the number of module connection levels; the number of module connection levels is used to describe the number of video acquisition modules at intervals between the video acquisition module and the main control module on the connection link.

[0099] Based on any optional technical solution in the embodiments of this disclosure, the robot further includes a connection test module; wherein, the connection test module is used to send cascade test information to multiple video acquisition modules through the robot's main control module before determining the module connection information corresponding to each video acquisition module, so that the video acquisition modules determine the module connection information corresponding to the video acquisition module based on the cascade test information.

[0100] Based on any optional technical solution in the embodiments of this disclosure, the robot further includes a latency testing module; wherein, the latency testing module is used to send latency testing information to multiple video acquisition modules through the robot's main control module before determining the robot's acquisition environment information based on the multiple regional video information, and to receive latency feedback information corresponding to the latency testing information sent by the video acquisition modules; and to determine the module latency information of the video acquisition modules based on the latency feedback information sent by the video acquisition modules, so as to determine the information acquisition time of the regional video information acquired by the video acquisition modules based on the module latency information.

[0101] Based on any optional technical solution in the embodiments of this disclosure, the video acquisition module includes an image acquisition unit, a data encoding and decoding unit, a synchronization circuit, a coaxial power supply circuit, and a voltage regulator circuit; the image acquisition unit, the synchronization circuit, and the coaxial power supply circuit are respectively connected to the data encoding and decoding unit, and the voltage regulator circuit is connected to the coaxial power supply circuit.

[0102] The robot provided in this disclosure can execute the video transmission method provided in any embodiment of this disclosure, and has the corresponding functional modules and beneficial effects for executing the video transmission method.

[0103] It is worth noting that the various units and modules included in the above-mentioned device are only divided according to functional logic, but are not limited to the above division, as long as the corresponding functions can be realized; in addition, the specific names of each functional unit are only for easy differentiation and are not used to limit the protection scope of the embodiments of this disclosure.

[0104] The following is for reference. Figure 8 This illustration shows a structural diagram of an electronic device (e.g., a terminal device or a server) 800 suitable for implementing embodiments of the present disclosure. The terminal device in the embodiments of the present disclosure may include, but is not limited to, mobile terminals such as mobile phones, laptops, digital broadcast receivers, PDAs (personal digital assistants), PADs (tablet computers), PMPs (portable multimedia players), in-vehicle terminals (e.g., in-vehicle navigation terminals), and fixed terminals such as digital TVs and desktop computers. Figure 8 The electronic device shown is merely an example and should not be construed as limiting the functionality and scope of the embodiments disclosed herein.

[0105] like Figure 8 As shown, the electronic device 800 may include a processing device (e.g., a central processing unit, a graphics processor, etc.) 801, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 802 or a program loaded from a storage device 808 into a random access memory (RAM) 803. The RAM 803 also stores various programs and data required for the operation of the electronic device 800. The processing device 801, ROM 802, and RAM 803 are interconnected via a bus 804. An input / output (I / O) interface 805 is also connected to the bus 804.

[0106] Typically, the following devices can be connected to I / O interface 805: input devices 806 including, for example, touchscreens, touchpads, keyboards, mice, cameras, microphones, accelerometers, gyroscopes, etc.; output devices 807 including, for example, liquid crystal displays (LCDs), speakers, vibrators, etc.; storage devices 808 including, for example, magnetic tapes, hard disks, etc.; and communication devices 809. Communication device 809 allows electronic device 800 to communicate wirelessly or wiredly with other devices to exchange data. Although Figure 8 An electronic device 800 with various devices is shown; however, it should be understood that it is not required to implement or possess all of the devices shown. More or fewer devices may be implemented or possessed alternatively.

[0107] In particular, according to embodiments of this disclosure, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments of this disclosure include a computer program product comprising a computer program carried on a non-transitory computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via a communication device 809, or installed from a storage device 808, or installed from a ROM 802. When the computer program is executed by a processing device 801, it performs the functions defined in the methods of embodiments of this disclosure.

[0108] The names of messages or information exchanged between multiple devices in the embodiments of this disclosure are for illustrative purposes only and are not intended to limit the scope of such messages or information.

[0109] The electronic device provided in this disclosure and the video transmission method provided in the above embodiments belong to the same inventive concept. Technical details not described in detail in this disclosure can be found in the above embodiments, and this embodiment has the same beneficial effects as the above embodiments.

[0110] This disclosure provides a computer storage medium storing a computer program that, when executed by a processor, implements the video transmission method provided in the above embodiments.

[0111] It should be noted that the computer-readable medium described in this disclosure can be a computer-readable information medium or a computer-readable storage medium, or any combination thereof. A computer-readable storage medium can be, for example,—but not limited to—an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of a computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this disclosure, a computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device. In this disclosure, a computer-readable information medium can include data information propagated in baseband or as part of a carrier wave, carrying computer-readable program code. Such propagated data information can take various forms, including but not limited to electromagnetic information, optical information, or any suitable combination thereof. A computer-readable information medium may also be any computer-readable medium other than a computer-readable storage medium, which can send, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device. The program code contained on the computer-readable medium can be transmitted using any suitable medium, including but not limited to: wires, optical fibers, RF (radio frequency), etc., or any suitable combination thereof.

[0112] According to one or more embodiments of this disclosure, [Example 1] provides a video transmission method, comprising: acquiring regional video information through multiple video acquisition modules of a robot; determining module connection information corresponding to each video acquisition module; determining target video information corresponding to the video acquisition module based on the module connection information and the regional video information; and transmitting the target video information to the robot's main control module based on the module connection information; wherein at least two video acquisition modules are cascaded together via coaxial cables; the main control module receives the target video information, parses the target video information to obtain the regional video information corresponding to the target video information, and determines the robot's acquisition environment information based on the multiple regional video information.

[0113] According to one or more embodiments of this disclosure, [Example 2] provides the method of Example 1, further comprising: optionally, determining the target video information corresponding to the video acquisition module based on the module connection information and the regional video information includes: when the module connection information is first preset information, generating target video information corresponding to the video acquisition module based on the regional video information acquired by the video acquisition module; wherein, the first preset information is at least used to characterize that there is no cascaded video acquisition module on the side of the connection link with the main control module away from the main control module; and / or, when the module connection information is second preset information, receiving the target video information of the video acquisition module associated with it, and generating target video information corresponding to the video acquisition module based on the regional video information acquired by the video acquisition module and the received target video information; wherein, the second preset information is used to characterize that there is a cascaded video acquisition module on the side of the connection link with the main control module away from the main control module.

[0114] According to one or more embodiments of this disclosure, [Example 3] provides the method of Example 1, which further includes: Optionally, generating target video information corresponding to the video acquisition module based on the regional video information acquired by the video acquisition module and the received target video information includes: combining the regional video information acquired by the video acquisition module and the received target video information according to a preset combination method to obtain the target video information corresponding to the video acquisition module.

[0115] According to one or more embodiments of this disclosure, Example 4 provides the method of Example 1, which further includes: Optionally, combining the regional video information acquired by the video acquisition module with the received target video information to obtain target video information corresponding to the video acquisition module includes: parsing the received target video information to obtain multiple virtual video channels; wherein, the multiple virtual video channels include at least a first video channel with added regional video information corresponding to the received target video information and a second video channel corresponding to the regional video information acquired by the video acquisition module; regional video information acquired by different video acquisition modules is added to different virtual video channels; filling the regional video information acquired by the video acquisition module into the second video channel, combining the first video channel with the filled second video channel according to a preset combination method to obtain video information to be transmitted, and generating target video information corresponding to the video acquisition module based on the video information to be transmitted.

[0116] According to one or more embodiments of this disclosure, Example 5 provides the method of Example 1, which further includes: Optionally, generating target video information corresponding to the video acquisition module based on the regional video information acquired by the video acquisition module includes: determining a video transmission channel; wherein the video transmission channel includes a plurality of virtual video channels, and at least one of the virtual video channels has a blank placeholder added; determining a target video channel corresponding to the regional video information acquired by the video acquisition module from the virtual video channels with the added blank placeholder, and adding the regional video information to the target video channel to obtain target video information corresponding to the video acquisition module.

[0117] According to one or more embodiments of this disclosure, Example Six provides the method of Example One, which further includes: Optionally, after adding the regional video information acquired by the video acquisition module to the virtual video channel with the added blank placeholder, the method further includes: determining the next virtual video channel to be filled among a plurality of virtual video channels according to the virtual video channel corresponding to the regional video information, and adding a blank placeholder to the virtual video channel.

[0118] According to one or more embodiments of this disclosure, Example 7 provides the method of Example 1, which further includes: optionally, the module connection information includes a module connection level; the module connection level is used to describe the number of video acquisition modules at intervals between the video acquisition module and the main control module on the connection link.

[0119] According to one or more embodiments of this disclosure, Example 8 provides the method of Example 1, which further includes: optionally, before determining the module connection information corresponding to each of the video acquisition modules, the method further includes: sending cascade test information to the multiple video acquisition modules through the main control module of the robot, so that the video acquisition modules determine the module connection information corresponding to the video acquisition modules based on the cascade test information.

[0120] According to one or more embodiments of this disclosure, Example Nine provides the method of Example One, which further includes: Optionally, before determining the robot's acquisition environment information based on the plurality of regional video information, the method further includes: sending latency test information to the plurality of video acquisition modules through the robot's main control module, and receiving latency feedback information corresponding to the latency test information sent by the video acquisition modules; determining the module latency information of the video acquisition modules based on the latency feedback information sent by the video acquisition modules, so as to determine the information acquisition time of the regional video information acquired by the video acquisition modules based on the module latency information.

[0121] According to one or more embodiments of this disclosure, Example 10 provides the method of Example 1, which further includes: optionally, the video acquisition module includes an image acquisition unit, a data encoding and decoding unit, a synchronization circuit, a coaxial power supply circuit, and a voltage regulator circuit; the image acquisition unit, the synchronization circuit, and the coaxial power supply circuit are respectively connected to the data encoding and decoding unit, and the voltage regulator circuit is connected to the coaxial power supply circuit.

[0122] According to one or more embodiments of this disclosure, [Example 11] provides a video transmission device, including: a plurality of video acquisition modules and a main control module; wherein, the video acquisition modules are used to acquire regional video information, determine module connection information corresponding to each video acquisition module, determine target video information corresponding to the video acquisition module based on the module connection information and the regional video information, and transmit the target video information to the main control module of the robot based on the module connection information; wherein at least two video acquisition modules are cascaded through a coaxial cable; the main control module is used to receive the target video information, parse the target video information to obtain the regional video information corresponding to the target video information, and determine the robot's acquisition environment information based on the plurality of regional video information.

[0123] In some implementations, clients and servers can communicate using any currently known or future-developed network protocol such as HTTP (Hypertext Transfer Protocol) and can interconnect with digital data communication (e.g., communication networks) of any form or medium. Examples of communication networks include local area networks (“LANs”), wide area networks (“WANs”), the Internet (e.g., the Internet of Things), and peer-to-peer networks (e.g., ad hoc peer-to-peer networks), as well as any currently known or future-developed networks.

[0124] The aforementioned computer-readable medium may be included in the aforementioned electronic device; or it may exist independently and not assembled into the electronic device.

[0125] The aforementioned computer-readable medium carries one or more programs that, when executed by the electronic device, cause the electronic device to: acquire regional video information through multiple video acquisition modules of the robot; determine module connection information corresponding to each video acquisition module; determine target video information corresponding to the video acquisition module based on the module connection information and the regional video information; and transmit the target video information to the robot's main control module based on the module connection information; wherein at least two video acquisition modules are cascaded together via coaxial cables; and receive the target video information through the main control module, parse the target video information to obtain the regional video information corresponding to the target video information, and determine the robot's acquisition environment information based on multiple pieces of regional video information.

[0126] Computer program code for performing the operations of this disclosure can be written in one or more programming languages ​​or a combination thereof, including but not limited to object-oriented programming languages ​​such as Java, Smalltalk, and C++, as well as conventional procedural programming languages ​​such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a local area network (LAN) or a wide area network (WAN)—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0127] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this disclosure. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0128] The units described in the embodiments of this disclosure can be implemented in software or in hardware. The names of the units are not necessarily limiting in certain circumstances; for example, the main control module can also be described as "a module that determines the robot's environmental information."

[0129] The functions described above in this document can be performed, at least in part, by one or more hardware logic components. For example, exemplary types of hardware logic components that can be used, without limitation, include: Field Programmable Gate Arrays (FPGAs), Application-Specific Integrated Circuits (ASICs), Application Standard Products (ASSPs), System-on-Chip (SoCs), Complex Programmable Logic Devices (CPLDs), and so on.

[0130] In the context of this disclosure, a machine-readable medium can be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, apparatus, or device. A machine-readable medium can be a machine-readable information medium or a machine-readable storage medium. A machine-readable medium can be, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0131] The above description is merely a preferred embodiment of this disclosure and an explanation of the technical principles employed. Those skilled in the art should understand that the scope of this disclosure is not limited to technical solutions formed by specific combinations of the above-described technical features, but should also cover other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the above-described concept. For example, technical solutions formed by substituting the above features with (but not limited to) technical features disclosed in this disclosure that have similar functions.

[0132] Furthermore, while the operations are described in a specific order, this should not be construed as requiring these operations to be performed in the specific order shown or in a sequential order. In certain environments, multitasking and parallel processing may be advantageous. Similarly, while several specific implementation details are included in the above discussion, these should not be construed as limiting the scope of this disclosure. Certain features described in the context of individual embodiments may also be implemented in combination in a single embodiment. Conversely, various features described in the context of a single embodiment may also be implemented individually or in any suitable sub-combination in multiple embodiments.

[0133] Although the subject matter has been described using language specific to structural features and / or methodological logic, it should be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or actions described above. Rather, the specific features and actions described above are merely illustrative examples of implementing the claims.

Claims

1. A video transmission method, characterized in that, include: The robot uses multiple video acquisition modules to collect regional video information, determines the module connection information corresponding to each video acquisition module, determines the target video information corresponding to the video acquisition module based on the module connection information and the regional video information, and transmits the target video information to the robot's main control module based on the module connection information; wherein at least two video acquisition modules are cascaded together via coaxial cables; The main control module receives the target video information and parses it to obtain the area video information corresponding to the target video information. Based on the multiple area video information, the robot's acquisition environment information is determined.

2. The video transmission method according to claim 1, characterized in that, The step of determining the target video information corresponding to the video acquisition module based on the module connection information and the regional video information includes: When the module connection information is the first preset information, target video information corresponding to the video acquisition module is generated based on the regional video information acquired by the video acquisition module; wherein, the first preset information is at least used to indicate that there is no cascaded video acquisition module on the side of the connection link with the main control module that is far from the main control module; and / or, When the module connection information is the second preset information, the target video information of the associated video acquisition module is received, and target video information corresponding to the video acquisition module is generated based on the area video information acquired by the video acquisition module and the received target video information; wherein, the second preset information is used to indicate that there is a cascaded video acquisition module on the side of the connection link between the video acquisition module and the main control module that is far away from the main control module.

3. The video transmission method according to claim 2, characterized in that, The step of generating target video information corresponding to the video acquisition module based on the regional video information acquired by the video acquisition module and the received target video information includes: The video information of the area acquired by the video acquisition module is combined with the target video information received according to a preset combination method to obtain the target video information corresponding to the video acquisition module.

4. The video transmission method according to claim 3, characterized in that, The step of combining the regional video information acquired by the video acquisition module with the received target video information to obtain the target video information corresponding to the video acquisition module includes: The received target video information is parsed to obtain multiple virtual video channels; wherein, the multiple virtual video channels include at least a first video channel with added regional video information corresponding to the received target video information and a second video channel with added regional video information corresponding to the video acquisition module; the regional video information acquired by different video acquisition modules is added to different virtual video channels; The video information of the area acquired by the video acquisition module is filled into the second video channel. The first video channel and the filled second video channel are combined according to a preset combination method to obtain the video information to be transmitted. Target video information corresponding to the video acquisition module is generated based on the video information to be transmitted.

5. The video transmission method according to claim 2, characterized in that, The step of generating target video information corresponding to the video acquisition module based on the regional video information acquired by the video acquisition module includes: Determine the video transmission channel; wherein the video transmission channel includes multiple virtual video channels, and at least one of the virtual video channels has a blank placeholder added; From the virtual video channels with added blank placeholders, determine the target video channel corresponding to the regional video information acquired by the video acquisition module, and add the regional video information to the target video channel to obtain the target video information corresponding to the video acquisition module.

6. The video transmission method according to claim 5, characterized in that, After adding the area video information acquired by the video acquisition module to the virtual video channel with the added blank placeholder, the method further includes: Based on the virtual video channel corresponding to the regional video information, determine the next virtual video channel to be filled among multiple virtual video channels, and add a blank placeholder to the virtual video channel.

7. The video transmission method according to claim 1, characterized in that, The module connection information includes the module connection level; the module connection level is used to describe the number of video acquisition modules between the video acquisition module and the main control module on the connection link.

8. The video transmission method according to claim 7, characterized in that, Before determining the module connection information corresponding to each of the video acquisition modules, the method further includes: The robot's main control module sends cascade test information to multiple video acquisition modules, enabling the video acquisition modules to determine their corresponding module connection information based on the cascade test information.

9. The video transmission method according to claim 1, characterized in that, Before determining the robot's acquisition environment information based on the multiple areas of video information, the method further includes: The robot's main control module sends latency test information to multiple video acquisition modules and receives latency feedback information corresponding to the latency test information sent by the video acquisition modules. The module delay information of the video acquisition module is determined based on the delay feedback information sent by the video acquisition module, so as to determine the information acquisition time of the regional video information acquired by the video acquisition module based on the module delay information.

10. The video transmission method according to claim 1, characterized in that, The video acquisition module includes an image acquisition unit, a data encoding and decoding unit, a synchronization circuit, a coaxial power supply circuit, and a voltage regulator circuit; the image acquisition unit, the synchronization circuit, and the coaxial power supply circuit are respectively connected to the data encoding and decoding unit, and the voltage regulator circuit is connected to the coaxial power supply circuit.

11. A robot, characterized in that, include: Multiple video capture modules and a main control module; among them, The video acquisition module is used to acquire regional video information, determine the module connection information corresponding to each video acquisition module, determine the target video information corresponding to the video acquisition module based on the module connection information and the regional video information, and transmit the target video information to the robot's main control module based on the module connection information; wherein, at least two video acquisition modules are cascaded together via a coaxial cable; The main control module is used to receive the target video information, parse the target video information to obtain the area video information corresponding to the target video information, and determine the robot's acquisition environment information based on multiple areas of video information.

12. A storage medium containing computer-executable instructions, characterized in that, The computer-executable instructions, when executed by a computer processor, are used to perform the video transmission method as described in any one of claims 1-10.

13. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the video transmission method as described in any one of claims 1-10.

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